From f5a382ce03e5a9eabff5ac6731017c06b415bd37 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 Oct 2021 23:20:59 -0700
Subject: [PATCH] better alerts for temporary EPS faults (#22747)

* better alerts for temporary EPS faults

* reorder
old-commit-hash: b76ccaac375712ee3ff215721db26009986d2f6d
---
 selfdrive/car/interfaces.py | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 6e148b96a2..51f1ca6903 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -30,9 +30,9 @@ class CarInterfaceBase():
     self.VM = VehicleModel(CP)
 
     self.frame = 0
-    self.steer_warning = 0
     self.steering_unpressed = 0
     self.low_speed_alert = False
+    self.silent_steer_warning = True
 
     if CarState is not None:
       self.CS = CarState(CP)
@@ -136,20 +136,20 @@ class CarInterfaceBase():
     if cs_out.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
 
-    self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
-    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
 
     # Handle permanent and temporary steering faults
+    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
+    if cs_out.steerWarning:
+      # if the user overrode recently, show a less harsh alert
+      if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+        self.silent_steer_warning = True
+        events.add(EventName.steerTempUnavailableSilent)
+      else:
+        events.add(EventName.steerTempUnavailable)
+    else:
+      self.silent_steer_warning = False
     if cs_out.steerError:
       events.add(EventName.steerUnavailable)
-    elif cs_out.steerWarning:
-      # only escalate to the harsher alert after the condition has
-      # persisted for 0.5s and we're certain that the user isn't overriding
-      if not cs_out.standstill and self.steering_unpressed > int(0.5 / DT_CTRL) and \
-         self.steer_warning > int(0.5 / DT_CTRL):
-        events.add(EventName.steerTempUnavailable)
-      else:
-        events.add(EventName.steerTempUnavailableSilent)
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.