add alerts for lkmode

cereal/car.capnp

@@ -76,6 +76,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     controlsFailed @51;
     sensorDataInvalid @52;
     commIssue @53;
+    manualSteeringRequired @54;
+    manualSteeringRequiredBlinkersOn @55;
   }
 }
 

selfdrive/car/honda/interface.py

@@ -489,7 +489,11 @@ class CarInterface(object):
     # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
     if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
       events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_error:
+    if not self.CS.lkMode:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on):
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif self.CS.steer_warning:
       events.append(create_event('steerTempUnavailable', [ET.WARNING]))

selfdrive/controls/lib/alerts.py

@@ -661,4 +661,18 @@ ALERTS = [
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
+
+  Alert(
+    "manualSteeringRequired",
+    "STEERING REQUIRED: Lane Keeping OFF",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "STEERING REQUIRED: Blinkers ON",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]