Proper alerts on Eon and disable flashing HUD alert when blinkers on …

…or LKAS off (commaai#63) * Disable steer alert when LKAS off * Display steering unavailable on Eon when LKAS off * Revert chime disable in favor of new method * x_lead < 6 or (x_lead < 17.5 and self.v_rel < 0.5) * logic correction on HUD alert * blinkers on disables HUD alarm * Add Manual Steering alert for LKAS Off mode * Call manual steering alert when LKAS off * Call blinkers alert when blinkers on * Add blinkers alert * Adjust Blinkers alert logic to include LKAS mode * Fix blinker logic * Add new steering required alerts to capnp * Trace LKAS / LDW error * Disable hud alert when LKAS off or blinkers on * Disable HUD alerts if LKAS off or blinkers on * Disable other ACC alert if LKAS off or blinkers on * Revert testing of steering required alert override * Disable steer saturate alert if blinkers on or LKAS off * Disable steer sat alert if LKAS off or blinkers on * Revert steerSaturated logic * disable steer limit alert when LKAS off or blinkers on * Fix Syntax error * Revert steerLimit alert disable * Disable steerSat alert when blinkers on or LKAS off * Revert stopping distance to default for pedal lurch * Re-intro 2m stopping distance
Gernby · Dec 13, 2018 · 5a9f7dd · 5a9f7dd
1 parent f1856be
commit 5a9f7dd
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Showing 5 changed files with 26 additions and 5 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -72,6 +72,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     calibrationProgress @47;
     lowBattery @48;
     invalidGiraffeHonda @49;
+    manualSteeringRequired @50;
+    manualSteeringRequiredBlinkersOn @51;
   }
 }
 

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -56,6 +56,7 @@ def process_hud_alert(hud_alert):
   fcw_display = 0
   steer_required = 0
   acc_alert = 0
+
   if hud_alert == AH.NONE:          # no alert
     pass
   elif hud_alert == AH.FCW:         # FCW
@@ -64,7 +65,7 @@ def process_hud_alert(hud_alert):
     steer_required = hud_alert[1]
   else:                             # any other ACC alert
     acc_alert = hud_alert[1]
-
+    
   return fcw_display, steer_required, acc_alert
 
 
@@ -124,8 +125,8 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       snd_beep = snd_beep if snd_beep is not 0 else snd_chime
 
     # Do not send audible alert when steering is disabled or blinkers on
-    if not CS.lkMode or CS.left_blinker_on or CS.right_blinker_on:
-      snd_chime = 0
+    #if not CS.lkMode or CS.left_blinker_on or CS.right_blinker_on:
+    #  snd_chime = 0
 
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -509,7 +509,11 @@ def update(self, c):
     else:
       self.cam_can_invalid_count = 0
 
-    if self.CS.steer_error:
+    if not self.CS.lkMode:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on):
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
       events.append(create_event('steerTempUnavailable', [ET.WARNING]))

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -278,7 +278,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
                                                      CS.steeringPressed, plan.dPoly, angle_offset, CP, VM, PL)
 
   # Send a "steering required alert" if saturation count has reached the limit
-  if LaC.sat_flag and CP.steerLimitAlert:
+  if LaC.sat_flag and CP.steerLimitAlert and CS.lkMode and not CS.leftBlinker and not CS.rightBlinker:
     AM.add("steerSaturated", enabled)
 
   # Parse permanent warnings to display constantly

diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py
@@ -100,6 +100,20 @@ def __gt__(self, alert2):
       "Steering Temporarily Unavailable",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
+
+  Alert(
+      "manualSteeringRequired",
+      "MANUAL STEERING REQUIRED",
+      "Steering is Off - Press LKAS button to turn On",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
+
+  Alert(
+      "manualSteeringRequiredBlinkersOn",
+      "MANUAL STEERING REQUIRED",
+      "Left or Right Signal is On",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
 
   Alert(
       "preDriverDistracted",