added ALKA

selfdrive/car/card.py

@@ -55,6 +55,9 @@ class CarD:
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    if self.params.get_bool("dp_alka"):
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALKA
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly

selfdrive/controls/controlsd.py

@@ -65,6 +65,10 @@ class Controls:
 
     self.params = Params()
 
+    # dp
+    self._dp_alka = self.params.get_bool("dp_alka")
+    self._dp_alka_active = True
+
     with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
       # TODO: this shouldn't need to be a builder
       self.CP = msg.as_builder()
@@ -511,7 +515,7 @@ class Controls:
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
-    if self.active:
+    if self.active or self._dp_alka_active:
       self.current_alert_types.append(ET.WARNING)
 
   def state_control(self, CS):
@@ -542,6 +546,19 @@ class Controls:
                    (not standstill or self.joystick_mode)
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
+    # rick - alka
+    if not self.CP.passive and self.initialized and self._dp_alka and self._dp_alka_active and not standstill and CS.cruiseState.available:
+      if self.sm['liveCalibration'].calStatus != log.LiveCalibrationData.Status.calibrated:
+        pass
+      elif abs(CS.steeringAngleDeg) >= 450:
+        pass
+      elif CS.steerFaultTemporary or CS.steerFaultPermanent:
+        pass
+      elif CS.gearShifter == car.CarState.GearShifter.reverse:
+        pass
+      else:
+        CC.latActive = True
+
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
 
@@ -773,6 +790,14 @@ class Controls:
 
     self.pm.send('controlsState', dat)
 
+    # dp - controlsStateExt
+    dat = messaging.new_message('controlsStateExt')
+    dat.valid = CS.canValid
+    controlsStateExt = dat.controlsStateExt
+    controlsStateExt.alkaActive = self._dp_alka_active
+    controlsStateExt.alkaEnabled = self._dp_alka
+    self.pm.send('controlsStateExt', dat)
+
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
       ce_send = messaging.new_message('onroadEvents', len(self.events))

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -64,7 +64,10 @@ void OnroadWindow::updateState(const UIState &s) {
   alerts->updateState(s);
   nvg->updateState(s);
 
-  QColor bgColor = bg_colors[s.status];
+  // dp - alka colored border
+  const SubMaster &sm = *(s.sm);
+  bool alka_active = sm["carControl"].getCarControl().getLatActive() && sm["controlsStateExt"].getControlsStateExt().getAlkaActive();
+  QColor bgColor = bg_colors[alka_active && s.status == STATUS_DISENGAGED? STATUS_ALKA : s.status];
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;

selfdrive/ui/ui.cc

@@ -215,6 +215,9 @@ static void update_state(UIState *s) {
                                  sm.rcv_frame("liveCalibration") > scene.started_frame &&
                                  sm.rcv_frame("modelV2") > scene.started_frame &&
                                  sm.rcv_frame("uiPlan") > scene.started_frame);
+
+  // dp
+  scene.alka_enabled = sm["controlsStateExt"].getControlsStateExt().getAlkaEnabled();
 }
 
 void ui_update_params(UIState *s) {
@@ -251,6 +254,10 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
+
+    // dp
+    // alka
+    "carControl", "controlsStateExt",
   });
 
   Params params;

selfdrive/ui/ui.h

@@ -55,6 +55,7 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
+  STATUS_ALKA,
 } UIStatus;
 
 enum PrimeType {
@@ -72,6 +73,7 @@ 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_ALKA] = QColor(0x22, 0xa0, 0xdc, 0xf1),
 };
 
 
@@ -106,6 +108,9 @@ typedef struct UIScene {
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
+
+  // dp
+  bool alka_enabled = false;
 } UIScene;
 
 class UIState : public QObject {