Mazda: alert when LKAS is disabled

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
commaai · Dec 24, 2021 · 0e3d07e · 0e3d07e
1 parent 13bf30f
commit 0e3d07e
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Showing 3 changed files with 13 additions and 4 deletions.
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
@@ -16,6 +16,7 @@ def __init__(self, CP):
     self.acc_active_last = False
     self.low_speed_alert = False
     self.lkas_allowed_speed = False
+    self.lkas_disabled = False
 
   def update(self, cp, cp_cam):
 
@@ -91,9 +92,12 @@ def update(self, cp, cp_cam):
 
     self.acc_active_last = ret.cruiseState.enabled
 
+    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
+
+    # camera signals
+    self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
     self.cam_lkas = cp_cam.vl["CAM_LKAS"]
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
-    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
     ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
     return ret

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
@@ -86,7 +86,9 @@ def update(self, c, can_strings):
     # events
     events = self.create_common_events(ret)
 
-    if self.CS.low_speed_alert:
+    if self.CS.lkas_disabled:
+      events.add(EventName.lkasDisabled)
+    elif self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -267,8 +267,6 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
 
   EventName.stockFcw: {},
 
-  EventName.lkasDisabled: {},
-
   # ********** events only containing alerts displayed in all states **********
 
   EventName.joystickDebug: {
@@ -834,4 +832,9 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.lkasDisabled: {
+    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
+    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
+  },
+
 }