espActive to CarState and CarEvent.EventName

commaai · Jun 13, 2024 · 18f4c7b · 18f4c7b
1 parent 1a083c2
commit 18f4c7b
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Showing 4 changed files with 11 additions and 3 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
+    espActive @121;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -194,6 +195,7 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @44 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -119,9 +119,8 @@ def update(self, cp, cp_cam):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
-    # TCS13|ACCEnable: 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
-    # TCS11|ABS_ACT: 1 ABS ACTIVE
-    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 or cp.vl["TCS11"]["ABS_ACT"] != 0
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] != 0  # 1 ESP ACTIVE
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       if self.CP.flags & HyundaiFlags.HYBRID:

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -282,6 +282,8 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -831,6 +831,11 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.espActive: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),