Mazda: alert when LKAS is disabled (#23288)
* Mazda: alert when LKAS is disabled Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * update refs * revert that Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/23673/head
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af33998335
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1c31c9b7a3
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@ -16,6 +16,7 @@ class CarState(CarStateBase):
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self.acc_active_last = False
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self.low_speed_alert = False
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self.lkas_allowed_speed = False
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self.lkas_disabled = False
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def update(self, cp, cp_cam):
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@ -91,9 +92,12 @@ class CarState(CarStateBase):
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self.acc_active_last = ret.cruiseState.enabled
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self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
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# camera signals
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self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
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self.cam_lkas = cp_cam.vl["CAM_LKAS"]
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self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
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self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
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ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
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return ret
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@ -86,7 +86,9 @@ class CarInterface(CarInterfaceBase):
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# events
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events = self.create_common_events(ret)
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if self.CS.low_speed_alert:
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if self.CS.lkas_disabled:
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events.add(EventName.lkasDisabled)
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elif self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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@ -264,8 +264,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
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EventName.stockFcw: {},
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EventName.lkasDisabled: {},
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# ********** events only containing alerts displayed in all states **********
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EventName.joystickDebug: {
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@ -823,4 +821,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
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ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
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},
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EventName.lkasDisabled: {
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ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
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ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
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},
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}
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