From d0b1afdc4e8c8248e00ef2431da61df450796d89 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Jul 2025 20:43:01 -0700
Subject: [PATCH] actually selfdrived is probably best since it already manages
 alerts

card is car interfacing, controlsd is for calculating control input, selfdrived is rest
---
 selfdrive/controls/controlsd.py    | 9 ---------
 selfdrive/selfdrived/selfdrived.py | 8 ++++++++
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 741cf5c79d..39687ab72a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -10,7 +10,6 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.interfaces import ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -19,7 +18,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -28,10 +26,6 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-def check_lateral_iso_violation(sm: messaging.SubMaster) -> bool:
-  return False
-
-
 class Controls:
   def __init__(self) -> None:
     self.params = Params()
@@ -164,9 +158,6 @@ class Controls:
     hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
     hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
 
-    if check_lateral_iso_violation(self.sm):
-      set_offroad_alert("Offroad_ViolatedIsoLimits", True)
-
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
     if self.sm.valid['driverAssistance']:
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index f0d06f32c0..507c6ac2fd 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
+from opendbc.car.interfaces import ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
 
 
 from openpilot.common.params import Params
@@ -39,6 +40,10 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
+def check_lateral_iso_violation(sm: messaging.SubMaster) -> bool:
+  return False
+
+
 class SelfdriveD:
   def __init__(self, CP=None):
     self.params = Params()
@@ -227,6 +232,9 @@ class SelfdriveD:
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
+    if check_lateral_iso_violation(self.sm):
+      set_offroad_alert("Offroad_ViolatedIsoLimits", True)
+
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection