Always On Lateral

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

selfdrive/selfdrived/selfdrived.py

@@ -552,7 +552,7 @@ class SelfdriveD:
     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.frogpilot_events)
+      self.enabled, self.active = self.state_machine.update(self.events, self.frogpilot_events, self.sm['frogpilotCarState'].alwaysOnLateralEnabled)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

selfdrive/selfdrived/state.py

@@ -16,7 +16,7 @@ class StateMachine:
     self.state = State.disabled
     self.soft_disable_timer = 0
 
-  def update(self, events: Events, frogpilot_events: Events):
+  def update(self, events: Events, frogpilot_events: Events, alwaysOnLateralEnabled: bool):
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
     self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
@@ -94,7 +94,7 @@ class StateMachine:
     # Check if openpilot is engaged and actuators are enabled
     enabled = self.state in ENABLED_STATES
     active = self.state in ACTIVE_STATES
-    if active:
+    if active or alwaysOnLateralEnabled:
       self.current_alert_types.append(ET.WARNING)
     return enabled, active