only rename

cereal

@@ -1 +1 @@
-Subproject commit 447d8b8a7a9c75e5f3478ac08622d6f1d2121528
+Subproject commit b9d3860541d421189d0973ae57a06eee5c00f556

selfdrive/car/interfaces.py

@@ -127,7 +127,7 @@ class CarInterfaceBase(ABC):
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
     if cs_out.gasPressed:
-      events.add(EventName.gasPressed)
+      events.add(EventName.gasPressedPreEnable)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:

selfdrive/controls/controlsd.py

@@ -431,6 +431,9 @@ class Controls:
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
+          elif self.events.any(ET.OVERRIDE):
+            self.state = State.overriding
+
         # SOFT DISABLING
         elif self.state == State.softDisabling:
           if not self.events.any(ET.SOFT_DISABLE):
@@ -450,6 +453,13 @@ class Controls:
           else:
             self.current_alert_types.append(ET.PRE_ENABLE)
 
+        # OVERRIDING
+        elif self.state == State.overriding:
+          if not self.events.any(ET.OVERRIDE):
+            self.state = State.enabled
+          else:
+            self.current_alert_types.append(ET.OVERRIDE)
+
     # DISABLED
     elif self.state == State.disabled:
       if self.events.any(ET.ENABLE):
@@ -459,6 +469,8 @@ class Controls:
         else:
           if self.events.any(ET.PRE_ENABLE):
             self.state = State.preEnabled
+          elif self.events.any(ET.OVERRIDE):
+            self.state = State.overriding
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
@@ -466,7 +478,7 @@ class Controls:
             self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
 
     # Check if actuators are enabled
-    self.active = self.state in (State.enabled, State.softDisabling)
+    self.active = self.state in (State.enabled, State.overriding, State.softDisabling)
     if self.active:
       self.current_alert_types.append(ET.WARNING)
 

selfdrive/controls/lib/events.py

@@ -30,6 +30,7 @@ class Priority(IntEnum):
 class ET:
   ENABLE = 'enable'
   PRE_ENABLE = 'preEnable'
+  OVERRIDE = 'override'
   NO_ENTRY = 'noEntry'
   WARNING = 'warning'
   USER_DISABLE = 'userDisable'
@@ -356,11 +357,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  EventName.gasPressed: {
+  EventName.gasPressedPreEnable: {
     ET.PRE_ENABLE: Alert(
       "Release Gas Pedal to Engage",
       "",
-      AlertStatus.normal, AlertSize.small,
+      AlertStatus.override, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
   },
 

selfdrive/ui/ui.cc

@@ -202,6 +202,8 @@ void UIState::updateStatus() {
       status = STATUS_WARNING;
     } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
       status = STATUS_ALERT;
+    } else if (alert_status == cereal::ControlsState::AlertStatus::OVERRIDE) {
+      status = STATUS_OVERRIDE;
     } else {
       status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }

selfdrive/ui/ui.h

@@ -73,6 +73,7 @@ struct Alert {
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
+  STATUS_OVERRIDE,
   STATUS_ENGAGED,
   STATUS_WARNING,
   STATUS_ALERT,
@@ -80,6 +81,7 @@ typedef enum UIStatus {
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] =  QColor(0x17, 0x33, 0x49, 0xc8),
+  [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
   [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),