Always on steering

openpilot/common/params_keys.h

@@ -56,6 +56,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
     {"InstallDate", {PERSISTENT, TIME}},
+    {"IsAosEnabled", {PERSISTENT, BOOL}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT, BOOL}},

openpilot/selfdrive/selfdrived/events.py

@@ -33,7 +33,12 @@ class Priority(IntEnum):
 
 # Event types
 class ET:
+  # on main, LAT_ENABLE? on set, ENABLE? on brake, USER_DISABLE_LONG?
+  # or simpler, USER_DISABLE just relates to long, but how should other DISABLEs affect it?
+  # should NO_ENTRY conditions be different for each mode? should it even play a tone if you turn on main in park after you start the car?
+  # or should it "enable" and wait until drive?
   ENABLE = 'enable'
+  LAT_ENABLE = 'latEnable'
   PRE_ENABLE = 'preEnable'
   OVERRIDE_LATERAL = 'overrideLateral'
   OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
@@ -688,6 +693,11 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
     ET.ENABLE: EngagementAlert(AudibleAlert.engage),
   },
 
+  EventName.latEnable: {
+    # TODO: two different tones?
+    ET.LAT_ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
   EventName.pcmDisable: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
   },

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -115,7 +115,9 @@ def __init__(self, CP=None):
 
     self.initialized = False
     self.enabled = False
-    self.active = False
+    # i don't think we can keep selfdrived lat/long agnostic since it handles event state machine
+    self.lat_active = False
+    self.long_active = False
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
     self.last_steering_pressed_frame = 0
@@ -524,7 +526,8 @@ def publish_selfdriveState(self, CS):
     ss_msg.valid = True
     ss = ss_msg.selfdriveState
     ss.enabled = self.enabled
-    ss.active = self.active
+    ss.latActive = self.lat_active
+    ss.longActive = self.long_active
     ss.state = self.state_machine.state
     ss.engageable = not self.events.contains(ET.NO_ENTRY)
     ss.experimentalMode = self.experimental_mode
@@ -552,7 +555,7 @@ def step(self):
     CS = self.data_sample()
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
-      self.enabled, self.active = self.state_machine.update(self.events)
+      self.enabled, self.long_active = self.state_machine.update(self.events)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

openpilot/selfdrive/selfdrived/state.py

@@ -8,6 +8,7 @@
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
+
 class StateMachine:
   def __init__(self):
     self.current_alert_types = [ET.PERMANENT]
@@ -91,8 +92,8 @@ def update(self, events: Events):
 
     # Check if openpilot is engaged and actuators are enabled
     enabled = self.state in ENABLED_STATES
-    active = self.state in ACTIVE_STATES
-    if active:
+    long_active = self.state in ACTIVE_STATES
+    if long_active:
       self.current_alert_types.append(ET.WARNING)
-    return enabled, active
+    return enabled, long_active
 

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -44,6 +44,7 @@ def __init__(self):
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
     self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
                                        toggle_callback=self._on_experimental_mode)
+    aos_toggle = BigParamControl("always on steering", "IsAosEnabled")
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
@@ -54,6 +55,7 @@ def __init__(self):
     self._scroller.add_widgets([
       self._personality_toggle,
       self._experimental_btn,
+      aos_toggle,
       is_metric_toggle,
       ldw_toggle,
       always_on_dm_toggle,
@@ -65,6 +67,7 @@ def __init__(self):
     # Toggle lists
     self._refresh_toggles = (
       ("ExperimentalMode", self._experimental_btn),
+      ("IsAosEnabled", aos_toggle),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),