better alerts for temporary EPS faults (#22747)
* better alerts for temporary EPS faults * reorderpull/22757/head
parent
f9b6b03f5d
commit
b76ccaac37
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@ -30,9 +30,9 @@ class CarInterfaceBase():
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self.VM = VehicleModel(CP)
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self.frame = 0
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self.steer_warning = 0
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self.steering_unpressed = 0
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self.low_speed_alert = False
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self.silent_steer_warning = True
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if CarState is not None:
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self.CS = CarState(CP)
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@ -136,20 +136,20 @@ class CarInterfaceBase():
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if cs_out.cruiseState.nonAdaptive:
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events.add(EventName.wrongCruiseMode)
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self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
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self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
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# Handle permanent and temporary steering faults
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self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
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if cs_out.steerWarning:
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# if the user overrode recently, show a less harsh alert
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if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
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self.silent_steer_warning = True
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events.add(EventName.steerTempUnavailableSilent)
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else:
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events.add(EventName.steerTempUnavailable)
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else:
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self.silent_steer_warning = False
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if cs_out.steerError:
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events.add(EventName.steerUnavailable)
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elif cs_out.steerWarning:
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# only escalate to the harsher alert after the condition has
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# persisted for 0.5s and we're certain that the user isn't overriding
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if not cs_out.standstill and self.steering_unpressed > int(0.5 / DT_CTRL) and \
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self.steer_warning > int(0.5 / DT_CTRL):
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events.add(EventName.steerTempUnavailable)
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else:
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events.add(EventName.steerTempUnavailableSilent)
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# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
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# Optionally allow to press gas at zero speed to resume.
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