CarState: add invalidLkasSetting (#33700)

* invalidLkasSetting

* clean up car specific a bit

* clean this up

* deprecate!

* bump

* this was just broken lol

* updaterefs

cereal/car.capnp

@@ -103,7 +103,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     selfdriveInitializing @98;
     usbError @99;
     cruiseMismatch @106;
-    lkasDisabled @107;
     canBusMissing @111;
     selfdrivedLagging @112;
     resumeBlocked @113;
@@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     highCpuUsageDEPRECATED @105;
     startupNoFwDEPRECATED @104;
     lowSpeedLockoutDEPRECATED @31;
+    lkasDisabledDEPRECATED @107;
   }
 }
 
@@ -199,6 +199,7 @@ struct CarState {
   steeringPressed @9 :Bool;        # if the user is using the steering wheel
   steerFaultTemporary @35 :Bool;   # temporary EPS fault
   steerFaultPermanent @36 :Bool;   # permanent EPS fault
+  invalidLkasSetting @55 :Bool;    # stock LKAS is incorrectly configured (i.e. on or off)
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;

selfdrive/car/car_specific.py

@@ -50,15 +50,10 @@ class CarSpecificEvents:
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-      if CS.lkas_enabled:  # type: ignore[attr-defined]
-        events.add(EventName.invalidLkasSetting)
-
     elif self.CP.carName == 'mazda':
       events = self.create_common_events(CS.out, CS_prev)
 
-      if CS.lkas_disabled:  # type: ignore[attr-defined]
-        events.add(EventName.lkasDisabled)
-      elif CS.low_speed_alert:  # type: ignore[attr-defined]
+      if CS.low_speed_alert:  # type: ignore[attr-defined]
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.carName == 'chrysler':
@@ -211,6 +206,8 @@ class CarSpecificEvents:
       events.add(EventName.gasPressedOverride)
     if CS.vehicleSensorsInvalid:
       events.add(EventName.vehicleSensorsInvalid)
+    if CS.invalidLkasSetting:
+      events.add(EventName.invalidLkasSetting)
 
     # Handle button presses
     for b in CS.buttonEvents:

selfdrive/selfdrived/events.py

@@ -394,8 +394,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
-                                       "Turn off stock LKAS to engage"),
+    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
+                                       "Toggle stock LKAS on or off to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
   EventName.cruiseMismatch: {
@@ -945,11 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
   },
 
-  EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
-  },
-
   EventName.vehicleSensorsInvalid: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
     ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf
+1b4480f5ebf5a4003dde22f19bbcf989294bc724