From fb1e8ce086ec5e2dc7b2150b62fdd99368eb7e66 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 16 Nov 2021 13:30:33 -0800
Subject: [PATCH] add offroad alerts for car unrecognized

---
 selfdrive/common/params.cc                 | 2 ++
 selfdrive/controls/controlsd.py            | 6 +++++-
 selfdrive/controls/lib/alerts_offroad.json | 8 ++++++++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 7e65ec128c2742..01bf9a8f4f5b78 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -158,12 +158,14 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"ApiCache_Owner", PERSISTENT},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index bd184f200faf78..bbd84d458f1c7d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -22,7 +22,7 @@
 from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from selfdrive.controls.lib.events import Events, ET
-from selfdrive.controls.lib.alertmanager import AlertManager
+from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
 from selfdrive.hardware import HARDWARE, TICI, EON
@@ -170,6 +170,10 @@ def __init__(self, sm=None, pm=None, can_sock=None):
       self.events.add(EventName.communityFeatureDisallowed, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
+      if len(self.CP.carFw) > 0:
+        set_offroad_alert("Offroad_CarUnrecognized", True)
+      else:
+        set_offroad_alert("Offroad_NoFirmware", True)
     elif self.read_only:
       self.events.add(EventName.dashcamMode, static=True)
     elif self.joystick_mode:
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 9a863551a82811..34f7601b3fa45e 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -40,5 +40,13 @@
   "Offroad_StorageMissing": {
     "text": "Storage drive not mounted.",
     "severity": 1
+  },
+  "Offroad_CarUnrecognized": {
+    "text": "openpilot was unable to identify your car... TODO",
+    "severity": 0
+  },
+  "Offroad_NoFirmware": {
+    "text": "openpilot was unable to identify your car (no fw)... TODO",
+    "severity": 0
   }
 }