clear no entry alerts if engaged (commaai#23559)

* clear no entry alerts if engaged * fix test
budney · Jan 17, 2022 · 59894a6 · 59894a6
1 parent 3f89834
commit 59894a6
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Showing 3 changed files with 10 additions and 5 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -611,10 +611,15 @@ def publish_logs(self, CS, start_time, actuators, lac_log):
     if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
       self.events.add(EventName.ldw)
 
-    clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
+    clear_event_types = set()
+    if ET.WARNING not in self.current_alert_types:
+      clear_event_types.add(ET.WARNING)
+    if self.enabled:
+      clear_event_types.add(ET.NO_ENTRY)
+
     alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
     self.AM.add_many(self.sm.frame, alerts)
-    current_alert = self.AM.process_alerts(self.sm.frame, clear_event)
+    current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
     if current_alert:
       hudControl.visualAlert = current_alert.visual_alert
 

diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
@@ -47,13 +47,13 @@ def add_many(self, frame: int, alerts: List[Alert]) -> None:
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
 
-  def process_alerts(self, frame: int, clear_event_type=None) -> Optional[Alert]:
+  def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
     current_alert = AlertEntry()
     for v in self.alerts.values():
       if not v.alert:
         continue
 
-      if clear_event_type and v.alert.event_type == clear_event_type:
+      if v.alert.event_type in clear_event_types:
         v.end_frame = -1
 
       # sort by priority first and then by start_frame

diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py
@@ -34,7 +34,7 @@ def test_duration(self):
         for frame in range(duration+10):
           if frame < add_duration:
             AM.add_many(frame, [alert, ])
-          current_alert = AM.process_alerts(frame)
+          current_alert = AM.process_alerts(frame, {})
 
           shown = current_alert is not None
           should_show = frame <= show_duration