IQ.Pilot Prebuilt Release @ ab07000

selfdrive/selfdrived/alertmanager.py

@@ -0,0 +1,68 @@
+import copy
+import os
+import json
+from collections import defaultdict
+from dataclasses import dataclass
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.events import Alert
+from openpilot.iqpilot.common.atlas_alerts import NULL_ALERT as EmptyAlert
+
+
+with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
+  OFFROAD_ALERTS = json.load(f)
+
+
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
+  if show_alert:
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
+    Params().put(alert, a)
+  else:
+    Params().remove(alert)
+
+
+@dataclass
+class AlertEntry:
+  alert: Alert | None = None
+  start_frame: int = -1
+  end_frame: int = -1
+  added_frame: int = -1
+
+  def active(self, frame: int) -> bool:
+    return frame <= self.end_frame
+
+  def just_added(self, frame: int) -> bool:
+    return self.active(frame) and frame == (self.added_frame + 1)
+
+class AlertManager:
+  def __init__(self):
+    self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
+    self.current_alert = EmptyAlert
+
+  def add_many(self, frame: int, alerts: list[Alert]) -> None:
+    for alert in alerts:
+      entry = self.alerts[alert.alert_type]
+      entry.alert = alert
+      if not entry.just_added(frame):
+        entry.start_frame = frame
+      min_end_frame = entry.start_frame + alert.duration
+      entry.end_frame = max(frame + 1, min_end_frame)
+      entry.added_frame = frame
+
+  def process_alerts(self, frame: int, clear_event_types: set):
+    ae = AlertEntry()
+    for v in self.alerts.values():
+      if not v.alert:
+        continue
+
+      if v.alert.event_type in clear_event_types:
+        v.end_frame = -1
+
+      # sort by priority first and then by start_frame
+      greater = ae.alert is None or (v.alert.priority, v.start_frame) > (ae.alert.priority, ae.start_frame)
+      if v.active(frame) and greater:
+        ae = v
+
+    self.current_alert = ae.alert if ae.alert is not None else EmptyAlert

selfdrive/selfdrived/alerts_offroad.json

@@ -0,0 +1,58 @@
+{
+  "Offroad_TemperatureTooHigh": {
+    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
+    "severity": 0
+  },
+  "Offroad_ConnectivityNeededPrompt": {
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, iqpilot won't engage in %1",
+    "severity": 0,
+    "_comment": "Set extra field to number of days"
+  },
+  "Offroad_ConnectivityNeeded": {
+    "text": "Connect to internet to check for updates. iqpilot won't automatically start until it connects to internet to check for updates.",
+    "severity": 1
+  },
+  "Offroad_UpdateFailed": {
+    "text": "Unable to download updates\n%1",
+    "severity": 1,
+    "_comment": "Set extra field to the failed reason."
+  },
+  "Offroad_IsTakingSnapshot": {
+    "text": "Taking camera snapshots. System won't start until finished.",
+    "severity": 0
+  },
+  "Offroad_NeosUpdate": {
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
+    "severity": 0
+  },
+  "Offroad_UnregisteredHardware": {
+    "text": "Failed to register device with konn3kt. If you need assistance, contact IQ.Pilot support.",
+    "severity": 1
+  },
+  "Offroad_StorageMissing": {
+    "text": "NVMe drive not mounted.",
+    "severity": 1
+  },
+  "Offroad_CarUnrecognized": {
+    "text": "iqpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle.",
+    "severity": 0
+  },
+  "Offroad_Recalibration": {
+    "text": "iqpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "severity": 0
+  },
+  "Offroad_OSMUpdateRequired": {
+    "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
+    "severity": 0
+  },
+  "Offroad_ExcessiveActuation": {
+    "text": "Excessive %1 actuation detected on your last drive. Please contact IQ.Pilot support and share your device ID for troubleshooting.",
+    "severity": 1,
+    "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch!</b> - The current version of <b><u>%1</u></b> is not marked as compatible with the Comma Three (3|tici). Please go to <b>[Device > Software]</b> and install a supported branch such as <b><u>release</u></b> or <b><u>beta</u></b> for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
+  }
+}

selfdrive/selfdrived/events.py

@@ -0,0 +1,973 @@
+#!/usr/bin/env python3
+import math
+
+from cereal import log, car
+import cereal.messaging as messaging
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
+from openpilot.system.hardware import HARDWARE
+
+from openpilot.iqpilot.common.atlas_alerts import EventBook as EventsBase, Tier as Priority, Tags as ET, AlertCard as Alert, \
+  NoEntryCard as NoEntryAlert, GentleDisableCard as SoftDisableAlert, PendingDisableCard as UserSoftDisableAlert, \
+  HardDisableCard as ImmediateDisableAlert, ChimeCard as EngagementAlert, BannerCard as NormalPermanentAlert, \
+  BootCard as StartupAlert, AlertFactory as AlertCallbackType, car_mode_entry_alert as wrong_car_mode_alert
+
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventName = log.OnroadEvent.EventName
+
+
+# get event name from enum
+EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
+
+
+class Events(EventsBase):
+  def __init__(self):
+    super().__init__()
+    self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
+
+  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
+    return EVENTS
+
+  def get_event_name(self, event: int):
+    return EVENT_NAME[event]
+
+  def get_event_msg_type(self):
+    return log.OnroadEvent
+
+
+
+# ********** helper functions **********
+def get_display_speed(speed_ms: float, metric: bool) -> str:
+  speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
+  unit = 'km/h' if metric else 'mph'
+  return f"{speed} {unit}"
+
+
+# ********** alert callback functions **********
+
+
+def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+    if soft_disable_time < int(0.5 / DT_CTRL):
+      return ImmediateDisableAlert(alert_text_2)
+    return SoftDisableAlert(alert_text_2)
+  return func
+
+def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+    if soft_disable_time < int(0.5 / DT_CTRL):
+      return ImmediateDisableAlert(alert_text_2)
+    return UserSoftDisableAlert(alert_text_2)
+  return func
+
+def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
+
+
+def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  return Alert(
+    f"Steer Assist Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
+
+
+def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
+  return Alert(
+    f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
+    f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
+
+
+def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
+  return NormalPermanentAlert(
+    "Recording Audio Feedback",
+    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
+    priority=Priority.LOW)
+
+
+# *** debug alerts ***
+
+def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  full_perc = round(100. - sm['deviceState'].freeSpacePercent)
+  return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
+
+
+def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if sm.frame * DT_CTRL < 10.:
+    return NoEntryAlert("IQModel is starting up", alert_text_1="Please Wait")
+  mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
+  err = CS.vEgo - mdl
+  msg = f"Speed Error: {err:.1f} m/s"
+  return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
+
+
+def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
+  msg = ', '.join(not_running)
+  return NoEntryAlert(msg, alert_text_1="Process Not Running")
+
+
+def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
+  msg = ', '.join(bs[:4])  # can't fit too many on one line
+  return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
+
+
+def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+  bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
+  return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
+
+
+def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  rpy = sm['liveCalibration'].rpyCalib
+  yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
+  pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
+  angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
+  return NormalPermanentAlert("Calibration Invalid", angles)
+
+
+def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if not sm['liveParameters'].angleOffsetValid:
+    angle_offset_deg = sm['liveParameters'].angleOffsetDeg
+    title = "Steering misalignment detected"
+    text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)"
+  elif not sm['liveParameters'].steerRatioValid:
+    steer_ratio = sm['liveParameters'].steerRatio
+    title = "Steer ratio mismatch"
+    text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})"
+  elif not sm['liveParameters'].stiffnessFactorValid:
+    stiffness_factor = sm['liveParameters'].stiffnessFactor
+    title = "Abnormal tire stiffness"
+    text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})"
+  else:
+    return NoEntryAlert("paramsd Temporary Error")
+
+  return NoEntryAlert(alert_text_1=title, alert_text_2=text)
+
+def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  cpu = max(sm['deviceState'].cpuTempC, default=0.)
+  gpu = max(sm['deviceState'].gpuTempC, default=0.)
+  temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
+  return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
+
+
+def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
+
+
+def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
+  return NormalPermanentAlert("High CPU Usage", f"{x}% used")
+
+
+def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
+
+
+def _joystick_axes(sm: messaging.SubMaster) -> tuple[float, float] | None:
+  if 'testJoystick' not in sm.data or sm.recv_frame['testJoystick'] == 0:
+    return None
+
+  axes = list(sm['testJoystick'].axes)
+  if len(axes) < 2:
+    return None
+
+  return float(axes[0]), float(axes[1])
+
+
+def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  gb = sm['carControl'].actuators.accel / 4.
+  if CP.steerControlType in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvatureDEPRECATED):
+    steer = sm['carControl'].actuators.steeringAngleDeg
+    vals = f"Gas: {round(gb * 100.)}%, Angle: {round(steer, 1)}°"
+  else:
+    steer = sm['carControl'].actuators.torque
+    vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", vals)
+
+
+def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  ad = sm['alertDebug']
+  audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none
+  alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal
+  alert_size = AlertSize.mid if ad.alertText2 else AlertSize.small
+  return Alert(ad.alertText1, ad.alertText2,
+               alert_status, alert_size,
+               Priority.LOW, VisualAlert.none, audible_alert, 0.2)
+
+
+def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  personality = str(personality).title()
+  return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
+
+
+def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  title = "Invalid LKAS setting"
+  text = "Toggle stock LKAS on or off to engage"
+  if CP.brand == "tesla":
+    title = "Dashcam Mode"
+    text = "FSD / Autosteer is active"
+  elif CP.brand == "mazda":
+    text = "Enable your car's LKAS to engage"
+  elif CP.brand == "nissan":
+    text = "Disable your car's stock LKAS to engage"
+  return NormalPermanentAlert(title, text)
+
+
+def invalid_lkas_setting_no_entry_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if CP.brand == "tesla":
+    return NoEntryAlert("FSD / Autosteer is active", alert_text_1="Dashcam Mode")
+  return NoEntryAlert("Invalid LKAS setting")
+
+
+
+EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
+  # ********** events with no alerts **********
+
+  EventName.stockFcw: {},
+  EventName.actuatorsApiUnavailable: {},
+
+  # ********** events only containing alerts displayed in all states **********
+
+  EventName.joystickDebug: {
+    ET.WARNING: joystick_alert,
+    ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
+  },
+
+  EventName.longitudinalManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode",
+                                       "Ensure road ahead is clear"),
+  },
+
+  EventName.lateralManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
+  },
+
+  EventName.selfdriveInitializing: {
+    ET.NO_ENTRY: NoEntryAlert("IQ.Pilot Initializing"),
+  },
+
+  EventName.startup: {
+    ET.PERMANENT: StartupAlert("Welcome to IQ.Pilot!")
+  },
+
+  EventName.startupMaster: {
+    ET.PERMANENT: StartupAlert("Welcome to IQ.Pilot!"),
+  },
+
+  EventName.startupNoControl: {
+    ET.PERMANENT: StartupAlert("Dashcam mode"),
+    ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
+  },
+
+  EventName.startupNoCar: {
+    ET.PERMANENT: StartupAlert("IQ.Pilot Dashcam mode for unrecognized car"),
+  },
+
+  EventName.startupNoSecOcKey: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "TSK Security Key Not Available",
+                                       priority=Priority.HIGH),
+  },
+
+  EventName.dashcamMode: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       priority=Priority.LOWEST),
+  },
+
+  EventName.invalidLkasSetting: {
+    ET.PERMANENT: invalid_lkas_setting_alert,
+    ET.NO_ENTRY: invalid_lkas_setting_no_entry_alert,
+  },
+
+  EventName.cruiseMismatch: {
+    #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
+  },
+
+  # openpilot doesn't recognize the car. This switches openpilot into a
+  # read-only mode. This can be solved by adding your fingerprint.
+  # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
+  EventName.carUnrecognized: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "Car Unrecognized",
+                                       priority=Priority.LOWEST),
+  },
+
+  EventName.aeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Emergency Braking: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"),
+  },
+
+  EventName.stockAeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Stock AEB: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
+  },
+
+  EventName.stockLkas: {
+    ET.PERMANENT: Alert(
+      "Stock LKAS: Lane Departure Detected",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
+  EventName.fcw: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
+  },
+
+  EventName.ldw: {
+    ET.PERMANENT: Alert(
+      "Lane Departure Detected",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
+  },
+
+  # ********** events only containing alerts that display while engaged **********
+
+  EventName.steerTempUnavailableSilent: {
+    ET.WARNING: Alert(
+      "Steering Assist Temporarily Unavailable",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
+  },
+
+  EventName.preDriverDistracted: {
+    ET.PERMANENT: Alert(
+      "Pay Attention",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.promptDriverDistracted: {
+    ET.PERMANENT: Alert(
+      "Pay Attention",
+      "Driver Distracted",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
+  },
+
+  EventName.driverDistracted: {
+    ET.PERMANENT: Alert(
+      "DISENGAGE IMMEDIATELY",
+      "Driver Distracted",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
+  },
+
+  EventName.preDriverUnresponsive: {
+    ET.PERMANENT: Alert(
+      "Touch Steering Wheel: No Face Detected",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
+  },
+
+  EventName.promptDriverUnresponsive: {
+    ET.PERMANENT: Alert(
+      "Touch Steering Wheel",
+      "Driver Unresponsive",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
+  },
+
+  EventName.driverUnresponsive: {
+    ET.PERMANENT: Alert(
+      "DISENGAGE IMMEDIATELY",
+      "Driver Unresponsive",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
+  },
+
+  EventName.manualRestart: {
+    ET.WARNING: Alert(
+      "TAKE CONTROL",
+      "Resume Driving Manually",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.resumeRequired: {
+    ET.WARNING: Alert(
+      "Press Resume to Exit Standstill",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.belowSteerSpeed: {
+    ET.WARNING: below_steer_speed_alert,
+  },
+
+  EventName.preLaneChangeLeft: {
+    ET.WARNING: Alert(
+      "Steer Left to Start Lane Change Once Safe",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.preLaneChangeRight: {
+    ET.WARNING: Alert(
+      "Steer Right to Start Lane Change Once Safe",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.laneChangeBlocked: {
+    ET.WARNING: Alert(
+      "Car Detected in Blindspot",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
+  },
+
+  EventName.laneChange: {
+    ET.WARNING: Alert(
+      "Changing Lanes",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerSaturated: {
+    ET.WARNING: Alert(
+      "Take Control",
+      "Turn Exceeds Steering Limit",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
+  },
+
+  # Thrown when the fan is driven at >50% but is not rotating
+  EventName.fanMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
+  },
+
+  # Camera is not outputting frames
+  EventName.cameraMalfunction: {
+    ET.PERMANENT: camera_malfunction_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Camera Malfunction"),
+    ET.NO_ENTRY: NoEntryAlert("Camera Malfunction: Reboot Your Device"),
+  },
+  # Camera framerate too low
+  EventName.cameraFrameRate: {
+    ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"),
+    ET.SOFT_DISABLE: soft_disable_alert("Camera Frame Rate Low"),
+    ET.NO_ENTRY: NoEntryAlert("Camera Frame Rate Low: Reboot Your Device"),
+  },
+
+  # Unused
+
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: paramsd_invalid_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
+  },
+
+  # ********** events that affect controls state transitions **********
+
+  EventName.pcmEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.buttonEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.pcmDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.buttonCancel: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"),
+  },
+
+  EventName.brakeHold: {
+    ET.WARNING: Alert(
+      "Press Resume to Exit Brake Hold",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+  },
+
+  EventName.parkBrake: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
+  EventName.pedalPressed: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  EventName.steerDisengage: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
+  },
+
+  EventName.preEnableStandstill: {
+    ET.PRE_ENABLE: Alert(
+      "Release Brake to Engage",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
+  },
+
+  EventName.gasPressedOverride: {
+    ET.OVERRIDE_LONGITUDINAL: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerOverride: {
+    ET.OVERRIDE_LATERAL: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.wrongCarMode: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: wrong_car_mode_alert,
+  },
+
+  EventName.resumeBlocked: {
+    ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
+  },
+
+  EventName.wrongCruiseMode: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),
+  },
+
+  EventName.steerTempUnavailable: {
+    ET.SOFT_DISABLE: soft_disable_alert("Steering Assist Temporarily Unavailable"),
+    ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
+  },
+
+  EventName.steerTimeLimit: {
+    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
+  },
+
+  EventName.outOfSpace: {
+    ET.PERMANENT: out_of_space_alert,
+    ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
+  },
+
+  EventName.belowEngageSpeed: {
+    ET.NO_ENTRY: below_engage_speed_alert,
+  },
+
+  EventName.sensorDataInvalid: {
+    ET.PERMANENT: Alert(
+      "Sensor Data Invalid",
+      "Possible Hardware Issue",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
+    ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
+    ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
+  },
+
+  EventName.noGps: {
+  },
+
+  EventName.tooDistracted: {
+    ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
+  },
+
+  EventName.excessiveActuation: {
+    ET.SOFT_DISABLE: soft_disable_alert("Excessive Actuation"),
+    ET.NO_ENTRY: NoEntryAlert("Excessive Actuation"),
+  },
+
+  EventName.overheat: {
+    ET.PERMANENT: overheat_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
+    ET.NO_ENTRY: NoEntryAlert("System Overheated"),
+  },
+
+  EventName.wrongGear: {
+    ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"),
+    ET.NO_ENTRY: NoEntryAlert("Gear not D"),
+  },
+
+  # This alert is thrown when the calibration angles are outside of the acceptable range.
+  # For example if the device is pointed too much to the left or the right.
+  # Usually this can only be solved by removing the mount from the windshield completely,
+  # and attaching while making sure the device is pointed straight forward and is level.
+  # See https://comma.ai/setup for more information
+  EventName.calibrationInvalid: {
+    ET.PERMANENT: calibration_invalid_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"),
+    ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
+  },
+
+  EventName.calibrationIncomplete: {
+    ET.PERMANENT: calibration_incomplete_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
+    ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
+  },
+
+  EventName.calibrationRecalibrating: {
+    ET.PERMANENT: calibration_incomplete_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
+    ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
+  },
+
+  EventName.doorOpen: {
+    ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
+    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+  },
+
+  EventName.seatbeltNotLatched: {
+    ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"),
+    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+  },
+
+  EventName.espDisabled: {
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
+  },
+
+  EventName.lowBattery: {
+    ET.SOFT_DISABLE: soft_disable_alert("Low Battery"),
+    ET.NO_ENTRY: NoEntryAlert("Low Battery"),
+  },
+
+  # Different openpilot services communicate between each other at a certain
+  # interval. If communication does not follow the regular schedule this alert
+  # is thrown. This can mean a service crashed, did not broadcast a message for
+  # ten times the regular interval, or the average interval is more than 10% too high.
+  # Soft warnings — no disable, no entry block. UI shows a silent yellow triangle instead.
+  EventName.commIssue: {
+  },
+  EventName.commIssueAvgFreq: {
+  },
+
+  EventName.selfdrivedLagging: {
+  },
+
+  # Thrown when manager detects a service exited unexpectedly while driving
+  EventName.processNotRunning: {
+    ET.NO_ENTRY: process_not_running_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Process Not Running"),
+  },
+
+  EventName.radarFault: {
+    ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"),
+    ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
+  },
+
+  EventName.radarTempUnavailable: {
+    ET.SOFT_DISABLE: soft_disable_alert("Radar Temporarily Unavailable"),
+    ET.NO_ENTRY: NoEntryAlert("Radar Temporarily Unavailable"),
+  },
+
+  # Every frame from the camera should be processed by the model. If modeld
+  # is not processing frames fast enough they have to be dropped. This alert is
+  # thrown when over 20% of frames are dropped.
+  EventName.modeldLagging: {
+    ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"),
+    ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"),
+    ET.PERMANENT: modeld_lagging_alert,
+  },
+
+  # Besides predicting the path, lane lines and lead car data the model also
+  # predicts the current velocity and rotation speed of the car. If the model is
+  # very uncertain about the current velocity while the car is moving, this
+  # usually means the model has trouble understanding the scene. This is used
+  # as a heuristic to warn the driver.
+  EventName.posenetInvalid: {
+    ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"),
+    ET.NO_ENTRY: posenet_invalid_alert,
+  },
+
+  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
+  # alert the driver the device might have fallen from the windshield.
+  EventName.deviceFalling: {
+    ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"),
+    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
+  },
+
+  EventName.lowMemory: {
+    ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
+    ET.PERMANENT: low_memory_alert,
+    ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
+  },
+
+  EventName.accFaulted: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
+    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
+  },
+
+  EventName.cruiseFaultLateralAllowed: {
+    ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", "Lane Assist will continue to work", priority=Priority.LOWEST),
+  },
+
+  EventName.espActive: {
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
+  EventName.controlsMismatch: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
+  },
+
+  # Sometimes the USB stack on the device can get into a bad state
+  # causing the connection to the panda to be lost
+  EventName.usbError: {
+    ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
+    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
+    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
+  },
+
+  # This alert can be thrown for the following reasons:
+  # - No CAN data received at all
+  # - CAN data is received, but some message are not received at the right frequency
+  # If you're not writing a new car port, this is usually cause by faulty wiring
+  # Minor canError: low-priority silent HUD badge only — no disable, no entry block, no audible/visual alert
+  EventName.canError: {
+    ET.PERMANENT: Alert(
+      "CAN Error",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+  },
+
+  EventName.canBusMissing: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"),
+    ET.PERMANENT: Alert(
+      "CAN Bus Disconnected: Likely Faulty Cable",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
+    ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"),
+  },
+
+  EventName.steerUnavailable: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"),
+    ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"),
+    ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
+  },
+
+  EventName.reverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
+  # On cars that use stock ACC the car can decide to cancel ACC for various reasons.
+  # When this happens we can no long control the car so the user needs to be warned immediately.
+  EventName.cruiseDisabled: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
+  },
+
+  # When the relay in the harness box opens the CAN bus between the LKAS camera
+  # and the rest of the car is separated. When messages from the LKAS camera
+  # are received on the car side this usually means the relay hasn't opened correctly
+  # and this alert is thrown.
+  EventName.relayMalfunction: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
+    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
+    ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
+  },
+
+  EventName.speedTooLow: {
+    ET.IMMEDIATE_DISABLE: Alert(
+      "openpilot Canceled",
+      "Speed too low",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
+  },
+
+  # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable.
+  EventName.speedTooHigh: {
+    ET.WARNING: Alert(
+      "Speed Too High",
+      "Model uncertain at this speed",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
+    ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
+  },
+
+  EventName.vehicleSensorsInvalid: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
+    ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
+  },
+
+  EventName.personalityChanged: {
+    ET.WARNING: personality_changed_alert,
+  },
+
+  EventName.userBookmark: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
+  },
+
+  EventName.audioFeedback: {
+    ET.PERMANENT: audio_feedback_alert,
+  },
+}
+
+
+if HARDWARE.get_device_type() == 'mici':
+  EVENTS.update({
+    EventName.preDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "",
+        AlertStatus.normal, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+    },
+    EventName.promptDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "Driver Distracted",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, 1),
+    },
+    EventName.resumeRequired: {
+      ET.WARNING: Alert(
+        "Press Resume",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    },
+    EventName.preLaneChangeLeft: {
+      ET.WARNING: Alert(
+        "Steer Left",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.preLaneChangeRight: {
+      ET.WARNING: Alert(
+        "Steer Right",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.laneChangeBlocked: {
+      ET.WARNING: Alert(
+        "Car in Blindspot",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
+    },
+    EventName.steerSaturated: {
+      ET.WARNING: Alert(
+        "take control",
+        "turn exceeds limit",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
+    },
+    EventName.calibrationIncomplete: {
+      ET.PERMANENT: calibration_incomplete_alert,
+      ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
+      ET.NO_ENTRY: NoEntryAlert("Calibrating"),
+    },
+    EventName.reverseGear: {
+      ET.PERMANENT: Alert(
+        "Reverse",
+        "",
+        AlertStatus.normal, AlertSize.full,
+        Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+      ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
+      ET.NO_ENTRY: NoEntryAlert("Reverse"),
+    },
+  })
+
+
+if __name__ == '__main__':
+  # print all alerts by type and priority
+  from cereal.services import SERVICE_LIST
+  from collections import defaultdict
+
+  event_names = {v: k for k, v in EventName.schema.enumerants.items()}
+  alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))
+
+  CP = car.CarParams.new_message()
+  CS = car.CarState.new_message()
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
+
+  for i, alerts in EVENTS.items():
+    for et, alert in alerts.items():
+      if callable(alert):
+        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
+      alerts_by_type[et][alert.priority].append(event_names[i])
+
+  all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
+  for et, priority_alerts in alerts_by_type.items():
+    all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
+
+  for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
+    print(f"**** {status} ****")
+    for p, alert_list in evs:
+      print(f"  {repr(p)}:")
+      print("   ", ', '.join(alert_list), "\n")

selfdrive/selfdrived/helpers.py

@@ -0,0 +1,55 @@
+import math
+from enum import StrEnum, auto
+
+from cereal import car, messaging
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.helpers import Pose
+from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY
+from iqdbc.car.lateral import ISO_LATERAL_ACCEL
+from iqdbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+
+MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
+MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
+
+
+class ExcessiveActuationType(StrEnum):
+  LONGITUDINAL = auto()
+  LATERAL = auto()
+
+
+class ExcessiveActuationCheck:
+  def __init__(self):
+    self._excessive_counter = 0
+    self._engaged_counter = 0
+
+  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
+    # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
+    # longitudinal
+    accel_calibrated = calibrated_pose.acceleration.x
+    excessive_long_actuation = sm['carControl'].longActive and ((not CS.gasPressed and accel_calibrated > ACCEL_MAX * 2) or
+                                                                accel_calibrated < ACCEL_MIN * 2)
+
+    # lateral
+    yaw_rate = calibrated_pose.angular_velocity.yaw
+    roll = sm['liveParameters'].roll
+    roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
+
+    # Prevent false positives after overriding
+    excessive_lat_actuation = False
+    self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
+    if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
+      if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
+        excessive_lat_actuation = True
+
+    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
+    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+
+    excessive_type = None
+    if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
+      if excessive_long_actuation:
+        excessive_type = ExcessiveActuationType.LONGITUDINAL
+      else:
+        excessive_type = ExcessiveActuationType.LATERAL
+
+    return excessive_type

selfdrive/selfdrived/selfdrived.py

@@ -0,0 +1,784 @@
+#!/usr/bin/env python3
+import os
+import time
+import threading
+
+import cereal.messaging as messaging
+
+from cereal import car, log, custom
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+
+from openpilot.common.params import Params
+from openpilot.common.issue_debug import log_issue_limited
+from openpilot.common.realtime import config_realtime_process, lock_memory, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
+
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
+from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
+from openpilot.selfdrive.selfdrived.state import StateMachine
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
+
+from openpilot.system.version import get_build_metadata
+from openpilot.system.hardware import HARDWARE
+
+from openpilot.iqpilot.sab.behavior import SteeringAssistanceBehavior
+def get_sanitize_int_param(key, min_val, max_val, params):
+  stored = params.get(key, return_default=True)
+  bounded = min(max(stored, min_val), max_val)
+  if bounded != stored:
+    params.put(key, bounded)
+  return bounded
+
+
+from openpilot.iqpilot.selfdrive.controls.lib.helpers.lane_change import NAV_EXIT_COMMIT_DISTANCE
+from openpilot.iqpilot.vehicle.vehicle import VehicleEvents
+from openpilot.iqpilot.selfdrive.car.gap_button_actions import GapButtonActions
+from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
+
+REPLAY = "REPLAY" in os.environ
+SIMULATION = "SIMULATION" in os.environ
+TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+
+LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
+
+ThermalStatus = log.DeviceState.ThermalStatus
+State = log.SelfdriveState.OpenpilotState
+PandaType = log.PandaState.PandaType
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
+EventName = log.OnroadEvent.EventName
+ButtonType = car.CarState.ButtonEvent.Type
+SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.IQTurnSignalDirection
+
+IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
+
+NON_BLOCKING_PROCESSES = {'mapd', 'iqmapd', 'navd', 'navrenderd'}
+
+
+def _cleanup_startup_params(CP: car.CarParams, params: Params) -> None:
+  if not CP.alphaLongitudinalAvailable or not CP.openpilotLongitudinalControl:
+    return
+
+
+class SelfdriveD(GapButtonActions):
+  def __init__(self, CP=None, CP_IQ=None):
+    self.params = Params()
+
+    # Ensure the current branch is cached, otherwise the first cycle lags
+    build_metadata = get_build_metadata()
+
+    if CP is None:
+      cloudlog.info("selfdrived is waiting for CarParams")
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
+      cloudlog.info("selfdrived got CarParams")
+    else:
+      self.CP = CP
+
+    if CP_IQ is None:
+      cloudlog.info("selfdrived is waiting for IQCarParams")
+      self.CP_IQ = messaging.log_from_bytes(self.params.get("IQCarParams", block=True), custom.IQCarParams)
+      cloudlog.info("selfdrived got IQCarParams")
+    else:
+      self.CP_IQ = CP_IQ
+
+    self.car_events = CarSpecificEvents(self.CP)
+
+    self.pose_calibrator = PoseCalibrator()
+    self.calibrated_pose: Pose | None = None
+    self.excessive_actuation_check = ExcessiveActuationCheck()
+    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
+
+    # Setup sockets
+    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['iqState', 'iqOnroadEvents'])
+
+    self.gps_location_service = get_gps_location_service(self.params)
+    self.gps_packets = [self.gps_location_service]
+    self.sensor_packets = ["accelerometer", "gyroscope"]
+    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+    if os.path.exists('/tmp/lite_hw'):
+      self.camera_packets.remove("driverCameraState")
+
+    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
+    self.car_state_sock = messaging.sub_sock('carState', timeout=20)
+
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan', 'iqDriveModelData', 'iqNavState', 'liveParameters', 'driverAssistance', 'testJoystick']
+    if os.path.exists('/tmp/lite_hw'):
+      ignore += ['driverCameraState', 'driverMonitoringState']
+    if SIMULATION:
+      ignore += ['driverCameraState', 'managerState']
+    if REPLAY:
+      # no vipc in replay will make them ignored anyways
+      ignore += ['roadCameraState', 'wideRoadCameraState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'lateralManeuverPlan',
+                                   'iqDriveModelData', 'iqNavState', 'iqPlan', 'testJoystick'] + \
+                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                  ignore_alive=ignore, ignore_avg_freq=ignore,
+                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
+
+    # read params
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.nav_exit_lane_change = self._read_nav_exit_lane_change()
+    self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
+
+    car_recognized = self.CP.brand != 'mock'
+
+    _cleanup_startup_params(self.CP, self.params)
+
+    self.CS_prev = car.CarState.new_message()
+    self.AM = AlertManager()
+    self.events = Events()
+
+    self.initialized = False
+    self.enabled = False
+    self.active = False
+    self.mismatch_counter = 0
+    self.cruise_mismatch_counter = 0
+    self.last_steering_pressed_frame = 0
+    self.distance_traveled = 0
+    self.last_functional_fan_frame = 0
+    self.events_prev = []
+    self.logged_comm_issue = None
+    self.not_running_prev = None
+    self.experimental_mode = False
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
+    self.recalibrating_seen = False
+    self.state_machine = StateMachine()
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
+
+    self.ignored_processes = set(NON_BLOCKING_PROCESSES)
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
+      self.ignored_processes.add('loggerd')
+
+    # Determine startup event
+    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.iqpilot_remote
+    self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
+    if HARDWARE.get_device_type() == 'mici':
+      self.startup_event = None
+    if not car_recognized:
+      self.startup_event = EventName.startupNoCar
+    elif car_recognized and self.CP.passive:
+      self.startup_event = EventName.startupNoControl
+    elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
+      self.startup_event = EventName.startupNoSecOcKey
+
+    if not car_recognized:
+      self.events.add(EventName.carUnrecognized, static=True)
+      set_offroad_alert("Offroad_CarUnrecognized", True)
+    elif self.CP.passive:
+      self.events.add(EventName.dashcamMode, static=True)
+
+    self.events_iq = IQEvents()
+    self.events_iq_prev = []
+    self._cached_dm_event_names: tuple[int, ...] = ()
+    self._cached_plan_event_names: tuple[int, ...] = ()
+    self._cached_model_event_names: tuple[int, ...] = ()
+    self._cached_nav_event_names: tuple[int, ...] = ()
+
+    self.aol = SteeringAssistanceBehavior(self)
+    self.car_events_iq = VehicleEvents(self.CP, self.CP_IQ)
+
+    GapButtonActions.__init__(self, self.CP)
+
+  def _add_iq_event_names(self, event_names: tuple[int, ...] | list[int]) -> None:
+    for event_name in event_names:
+      self.events_iq.add(event_name)
+
+  def _add_event_names(self, event_names: tuple[int, ...] | list[int]) -> None:
+    for event_name in event_names:
+      self.events.add(event_name)
+
+  def _refresh_cached_plan_events(self) -> None:
+    if self.sm.updated['iqPlan']:
+      self._cached_plan_event_names = tuple(event.name.raw for event in self._get_longitudinal_plan_ext().events)
+
+  def _refresh_cached_dm_events(self) -> None:
+    if self.sm.updated['driverMonitoringState']:
+      self._cached_dm_event_names = tuple(event.name.raw for event in self.sm['driverMonitoringState'].events)
+
+  def _refresh_cached_model_events(self) -> None:
+    if not self.sm.updated['iqDriveModelData']:
+      return
+
+    lane_turn_direction = self._get_model_data_ext().turnSignalDirection
+    if lane_turn_direction == TurnDirection.turnLeft:
+      self._cached_model_event_names = (custom.IQOnroadEvent.EventName.modelTurnLeft,)
+    elif lane_turn_direction == TurnDirection.turnRight:
+      self._cached_model_event_names = (custom.IQOnroadEvent.EventName.modelTurnRight,)
+    else:
+      self._cached_model_event_names = ()
+
+  def _read_nav_exit_lane_change(self) -> bool:
+    try:
+      return self.params.get_bool("NavExitLaneChange")
+    except Exception:
+      return False
+
+  def _refresh_cached_nav_events(self) -> None:
+    if not self.sm.updated['iqNavState']:
+      return
+
+    nav_state = self.sm['iqNavState']
+    nav_events: list[int] = []
+    if getattr(nav_state, 'active', False):
+      if getattr(nav_state, 'navTurnDesireDirection', 0) == 1:
+        nav_events.append(custom.IQOnroadEvent.EventName.navTurnLeft)
+      elif getattr(nav_state, 'navTurnDesireDirection', 0) == 2:
+        nav_events.append(custom.IQOnroadEvent.EventName.navTurnRight)
+      elif self.nav_exit_lane_change and \
+          getattr(nav_state, 'nextManeuverValid', False) and \
+          getattr(nav_state, 'nextManeuverType', custom.IQNavState.ManeuverType.none) == custom.IQNavState.ManeuverType.exit and \
+          0.0 < float(getattr(nav_state, 'nextManeuverDistance', 0.0)) <= NAV_EXIT_COMMIT_DISTANCE:
+        if getattr(nav_state, 'nextManeuverDirection', 0) == 1:
+          nav_events.append(custom.IQOnroadEvent.EventName.navExitLeft)
+        elif getattr(nav_state, 'nextManeuverDirection', 0) == 2:
+          nav_events.append(custom.IQOnroadEvent.EventName.navExitRight)
+
+    if getattr(nav_state, 'cameraValid', False):
+      nav_events.append(custom.IQOnroadEvent.EventName.speedCameraAhead)
+
+    self._cached_nav_event_names = tuple(nav_events)
+
+  def update_events(self, CS):
+    """Compute onroadEvents from carState"""
+
+    self.events.clear()
+    self.events_iq.clear()
+
+    if self.sm['controlsState'].lateralControlState.which() == 'debugState':
+      self.events.add(EventName.joystickDebug)
+      self.startup_event = None
+
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0:
+      self.events.add(EventName.lateralManeuver)
+      self.startup_event = None
+    elif self.sm.recv_frame['alertDebug'] > 0:
+      self.events.add(EventName.longitudinalManeuver)
+      self.startup_event = None
+
+    # Add startup event
+    if self.startup_event is not None:
+      self.events.add(self.startup_event)
+      self.startup_event = None
+
+    # Don't add any more events if not initialized
+    if not self.initialized:
+      self.events.add(EventName.selfdriveInitializing)
+      return
+
+    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    if self.sm.updated['userBookmark']:
+      self.events.add(EventName.userBookmark)
+
+    if self.sm.updated['audioFeedback']:
+      self.events.add(EventName.audioFeedback)
+
+    # Don't add any more events while in dashcam mode
+    if self.CP.passive:
+      return
+
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    volkswagen_op_long = self.CP.brand == "volkswagen" and self.CP.openpilotLongitudinalControl
+    if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed and not volkswagen_op_long:
+      self.events.add(EventName.resumeBlocked)
+
+    if not self.CP.notCar:
+      self._refresh_cached_dm_events()
+      self._add_event_names(self._cached_dm_event_names)
+      self._refresh_cached_plan_events()
+      self._add_iq_event_names(self._cached_plan_event_names)
+
+    # Add car events, ignore if CAN isn't valid
+    if CS.canValid:
+      car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
+      self.events.add_from_msg(car_events)
+
+      car_events_iq = self.car_events_iq.update(CS, self.events)
+      self._add_iq_event_names(car_events_iq.names)
+
+      if self.CP.notCar:
+        # wait for everything to init first
+        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+          # body always wants to enable
+          self.events.add(EventName.pcmEnable)
+
+      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        self.events.add(EventName.pedalPressed)
+
+    # Create events for temperature, disk space, and memory
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+      self.events.add(EventName.overheat)
+    if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
+      self.events.add(EventName.outOfSpace)
+    if self.sm['deviceState'].memoryUsagePercent > 95 and not SIMULATION:
+      self.events.add(EventName.lowMemory)
+
+    # Alert if fan isn't spinning for 5 seconds
+    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        # allow enough time for the fan controller in the panda to recover from stalls
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
+          self.events.add(EventName.fanMalfunction)
+      else:
+        self.last_functional_fan_frame = self.sm.frame
+
+    # Handle calibration status
+    cal_status = self.sm['liveCalibration'].calStatus
+    if cal_status != log.LiveCalibrationData.Status.calibrated:
+      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
+        self.events.add(EventName.calibrationIncomplete)
+      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        if not self.recalibrating_seen:
+          set_offroad_alert("Offroad_Recalibration", True)
+        self.recalibrating_seen = True
+        self.events.add(EventName.calibrationRecalibrating)
+      else:
+        self.events.add(EventName.calibrationInvalid)
+
+    # Lane departure warning
+    if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
+      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
+        self.events.add(EventName.ldw)
+
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
+    if self.sm.updated['liveCalibration']:
+      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
+    if self.sm.updated['livePose']:
+      device_pose = Pose.from_live_pose(self.sm['livePose'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+
+    if self.calibrated_pose is not None:
+      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
+      if not self.excessive_actuation and excessive_actuation is not None:
+        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
+        self.excessive_actuation = True
+
+    if self.excessive_actuation:
+      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************
+
+    # Handle lane change
+    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['modelV2'].meta.laneChangeDirection
+      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        self.events.add(EventName.laneChangeBlocked)
+      else:
+        if direction == LaneChangeDirection.left:
+          self.events.add(EventName.preLaneChangeLeft)
+        else:
+          self.events.add(EventName.preLaneChangeRight)
+    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
+                                                    LaneChangeState.laneChangeFinishing):
+      self.events.add(EventName.laneChange)
+
+    # Handle lane turn
+    self._refresh_cached_model_events()
+    self._add_iq_event_names(self._cached_model_event_names)
+
+    self._refresh_cached_nav_events()
+    self._add_iq_event_names(self._cached_nav_event_names)
+
+    for i, pandaState in enumerate(self.sm['pandaStates']):
+      # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
+      if i < len(self.CP.safetyConfigs):
+        safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
+                          pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
+                          pandaState.alternativeExperience != self.CP.alternativeExperience
+      else:
+        safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
+
+      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
+      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or \
+         pandaState.safetyRxChecksInvalid or \
+         self.mismatch_counter >= 200:
+        self.events.add(EventName.controlsMismatch)
+
+      if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
+        self.events.add(EventName.relayMalfunction)
+
+    # Handle HW and system malfunctions
+    # Order is very intentional here. Be careful when modifying this.
+    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
+    num_events = len(self.events)
+
+    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
+    if self.sm.recv_frame['managerState'] and len(not_running):
+      if not_running != self.not_running_prev:
+        cloudlog.event("process_not_running", not_running=not_running, error=True)
+      self.not_running_prev = not_running
+    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
+      self.events.add(EventName.processNotRunning)
+      if 'iqmodeld' in not_running and self.model_download_pending:
+        self.events_iq.add(custom.IQOnroadEvent.EventName.modelUpdating)
+    else:
+      if not SIMULATION and not self.rk.lagging:
+        if not self.sm.all_alive(self.camera_packets):
+          self.events.add(EventName.cameraMalfunction)
+        elif not self.sm.all_freq_ok(self.camera_packets):
+          self.events.add(EventName.cameraFrameRate)
+    if not REPLAY and self.rk.lagging:
+      log_issue_limited(
+        "selfdrived_lagging",
+        "lag",
+        f"selfdrived lagging avg_dt={self.rk.avg_dt.get_average() * 1000:.2f}ms frame={self.sm.frame}",
+        interval_sec=1.0,
+      )
+      self.events.add(EventName.selfdrivedLagging)
+    if self.sm['radarState'].radarErrors.canError:
+      self.events.add(EventName.canError)
+    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      self.events.add(EventName.radarTempUnavailable)
+    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+      self.events.add(EventName.radarFault)
+    if not self.sm.valid['pandaStates']:
+      self.events.add(EventName.usbError)
+    if CS.canTimeout:
+      self.events.add(EventName.canBusMissing)
+    elif not CS.canValid:
+      self.events.add(EventName.canError)
+
+    # generic catch-all. ideally, a more specific event should be added above instead
+    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
+    no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
+    logs = self._comm_issue_logs()
+    has_not_alive = len(logs['not_alive']) > 0
+    has_not_freq = len(logs['not_freq_ok']) > 0
+    comm_issue_state = (tuple(logs['not_alive']), tuple(logs['not_freq_ok']))
+    if (has_not_alive or has_not_freq) and no_system_errors:
+      if has_not_alive:
+        self.events.add(EventName.commIssue)
+      else:
+        self.events.add(EventName.commIssueAvgFreq)
+
+      if comm_issue_state != self.logged_comm_issue:
+        cloudlog.event("commIssue", error=True, **logs)
+        self.logged_comm_issue = comm_issue_state
+    else:
+      self.logged_comm_issue = None
+
+    if not self.CP.notCar:
+      if not self.sm['livePose'].posenetOK:
+        self.events.add(EventName.posenetInvalid)
+      if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+        self.events.add(EventName.paramsdTemporaryError)
+
+    # conservative HW alert. if the data or frequency are off, locationd will throw an error
+    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+      self.events.add(EventName.sensorDataInvalid)
+
+    if not REPLAY:
+      # Check for mismatch between openpilot and car's PCM
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
+      if self.cruise_mismatch_counter > int(6. / DT_CTRL):
+        self.events.add(EventName.cruiseMismatch)
+
+    # Send a "steering required alert" if saturation count has reached the limit
+    if CS.steeringPressed:
+      self.last_steering_pressed_frame = self.sm.frame
+    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
+    controlstate = self.sm['controlsState']
+    lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which())
+    if lac.active and not recent_steer_pressed and not self.CP.notCar:
+      clipped_speed = max(CS.vEgo, 0.3)
+      actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
+      desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
+      undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
+      turning = abs(desired_lateral_accel) > 1.0
+      # TODO: lac.saturated includes speed and other checks, should be pulled out
+      if undershooting and turning and lac.saturated:
+        self.events.add(EventName.steerSaturated)
+
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if (planner_fcw or model_fcw) and not self.CP.notCar:
+      self.events.add(EventName.fcw)
+
+    # GPS checks
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+      self.events.add(EventName.noGps)
+    if gps_ok:
+      self.distance_traveled = 0
+    self.distance_traveled += abs(CS.vEgo) * DT_CTRL
+
+    # TODO: fix simulator
+    if not SIMULATION or REPLAY:
+      if self.sm['modelV2'].frameDropPerc > 20:
+        log_issue_limited(
+          "modeld_frame_drop",
+          "lag",
+          f"modeld frame drops={self.sm['modelV2'].frameDropPerc:.1f}% frame={self.sm.frame}",
+          interval_sec=1.0,
+        )
+        self.events.add(EventName.modeldLagging)
+
+    # Mute canBusMissing in Park so standby guidance suppression does not create a false alarm.
+    if CS.gearShifter == car.CarState.GearShifter.park and self.aol.enabled:
+      self.events.remove(EventName.canBusMissing)
+
+    GapButtonActions.update(self, CS, self.events_iq, self.experimental_mode)
+
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        if not self.experimental_mode_switched:
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', self.personality)
+          self.events.add(EventName.personalityChanged)
+        self.experimental_mode_switched = False
+
+  def _get_model_data_ext(self):
+    return self.sm['iqDriveModelData']
+
+  def _get_longitudinal_plan_ext(self):
+    return self.sm['iqPlan']
+
+  def _comm_issue_logs(self):
+    ignore_freq = getattr(self.sm, "ignore_average_freq", [])
+    return {
+      'invalid': [s for s, valid in self.sm.valid.items() if not valid and s not in self.sm.ignore_valid],
+      'not_alive': [s for s, alive in self.sm.alive.items() if not alive and s not in self.sm.ignore_alive],
+      'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok and s not in ignore_freq],
+    }
+
+  def data_sample(self):
+    started = time.monotonic()
+    _car_state = messaging.recv_one(self.car_state_sock)
+    car_state_wait_ms = (time.monotonic() - started) * 1000
+
+    started = time.monotonic()
+    CS = _car_state.carState if _car_state else self.CS_prev
+
+    self.sm.update(0)
+    sm_update_ms = (time.monotonic() - started) * 1000
+
+    if not self.initialized:
+      all_valid = CS.canValid and self.sm.all_checks()
+      timed_out = self.sm.frame * DT_CTRL > 6.
+      if all_valid or timed_out or (SIMULATION and not REPLAY):
+        available_streams = VisionIpcClient.available_streams("camerad", block=False)
+        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
+          self.sm.ignore_alive.append('roadCameraState')
+          self.sm.ignore_valid.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
+          self.sm.ignore_alive.append('wideRoadCameraState')
+          self.sm.ignore_valid.append('wideRoadCameraState')
+
+        if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
+          self.state_machine.state = State.enabled
+
+        self.initialized = True
+        comm_issue_logs = self._comm_issue_logs()
+        cloudlog.event(
+          "selfdrived.initialized",
+          dt=self.sm.frame*DT_CTRL,
+          timeout=timed_out,
+          canValid=CS.canValid,
+          invalid=comm_issue_logs['invalid'],
+          not_alive=comm_issue_logs['not_alive'],
+          not_freq_ok=comm_issue_logs['not_freq_ok'],
+          error=True,
+        )
+
+    # When the panda and selfdrived do not agree on controls_allowed
+    # we want to disengage openpilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.enabled:
+      self.mismatch_counter = 0
+
+    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled.
+    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
+           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.mismatch_counter += 1
+
+    sample_total_ms = car_state_wait_ms + sm_update_ms
+    if sample_total_ms > 7.0 or car_state_wait_ms > 5.0 or sm_update_ms > 2.0:
+      log_issue_limited(
+        "selfdrived_sample_breakdown",
+        "lag",
+        f"selfdrived sample slow total_ms={sample_total_ms:.2f} car_state_wait_ms={car_state_wait_ms:.2f} "
+        f"sm_update_ms={sm_update_ms:.2f}",
+        interval_sec=1.0,
+      )
+
+    return CS
+
+  def update_alerts(self, CS):
+    clear_event_types = set()
+    if ET.WARNING not in self.state_machine.current_alert_types:
+      clear_event_types.add(ET.WARNING)
+    if self.enabled:
+      clear_event_types.add(ET.NO_ENTRY)
+
+    pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
+    callback_args = [self.CP, CS, self.sm, self.is_metric,
+                     self.state_machine.soft_disable_timer, pers]
+
+    alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
+    alerts_iq = self.events_iq.create_alerts(self.state_machine.current_alert_types, callback_args)
+
+    self.AM.add_many(self.sm.frame, alerts + alerts_iq)
+    self.AM.process_alerts(self.sm.frame, clear_event_types)
+
+  def publish_selfdriveState(self, CS):
+    # selfdriveState
+    ss_msg = messaging.new_message('selfdriveState')
+    ss_msg.valid = True
+    ss = ss_msg.selfdriveState
+    ss.enabled = self.enabled
+    ss.active = self.active
+    ss.state = self.state_machine.state
+    ss.engageable = not self.events.contains(ET.NO_ENTRY)
+    ss.experimentalMode = self.experimental_mode
+    ss.personality = self.personality
+
+    ss.alertText1 = self.AM.current_alert.alert_text_1
+    ss.alertText2 = self.AM.current_alert.alert_text_2
+    ss.alertSize = self.AM.current_alert.alert_size
+    ss.alertStatus = self.AM.current_alert.alert_status
+    ss.alertType = self.AM.current_alert.alert_type
+    ss.alertSound = self.AM.current_alert.audible_alert
+    ss.alertHudVisual = self.AM.current_alert.visual_alert
+
+    self.pm.send('selfdriveState', ss_msg)
+
+    # 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))
+      ce_send.valid = True
+      ce_send.onroadEvents = self.events.to_msg()
+      self.pm.send('onroadEvents', ce_send)
+    self.events_prev = self.events.names.copy()
+
+    # iqState
+    iq_state_msg = messaging.new_message('iqState')
+    iq_state_msg.valid = True
+    iq_state = iq_state_msg.iqState
+    aol = iq_state.aol
+    aol.state = self.aol.state_machine.state
+    aol.enabled = self.aol.enabled
+    aol.active = self.aol.active
+    aol.available = self.aol.enabled_toggle
+    self.pm.send('iqState', iq_state_msg)
+
+    # iqOnroadEvents - logged every second or on change
+    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_iq.names != self.events_iq_prev):
+      iq_events_msg = messaging.new_message('iqOnroadEvents')
+      iq_events_msg.valid = True
+      iq_events_msg.iqOnroadEvents.events = self.events_iq.to_msg()
+      self.pm.send('iqOnroadEvents', iq_events_msg)
+    self.events_iq_prev = self.events_iq.names.copy()
+
+  def step(self):
+    started = time.monotonic()
+    checkpoint = started
+
+    CS = self.data_sample()
+    sample_ms = (time.monotonic() - checkpoint) * 1000
+    checkpoint = time.monotonic()
+
+    self.update_events(CS)
+    events_ms = (time.monotonic() - checkpoint) * 1000
+    checkpoint = time.monotonic()
+
+    if not self.CP.passive and self.initialized:
+      self.enabled, self.active = self.state_machine.update(self.events)
+    state_ms = (time.monotonic() - checkpoint) * 1000
+    checkpoint = time.monotonic()
+
+    if not self.CP.notCar:
+      self.aol.update(CS)
+    aol_ms = (time.monotonic() - checkpoint) * 1000
+    checkpoint = time.monotonic()
+
+    self.update_alerts(CS)
+    alerts_ms = (time.monotonic() - checkpoint) * 1000
+    checkpoint = time.monotonic()
+
+    self.publish_selfdriveState(CS)
+    publish_ms = (time.monotonic() - checkpoint) * 1000
+
+    self.CS_prev = CS
+
+    total_ms = (time.monotonic() - started) * 1000
+    if total_ms > 8.0 or events_ms > 4.0 or publish_ms > 3.0:
+      log_issue_limited(
+        "selfdrived_step_slow",
+        "lag",
+        f"selfdrived step slow total_ms={total_ms:.2f} sample_ms={sample_ms:.2f} events_ms={events_ms:.2f} "
+        f"state_ms={state_ms:.2f} aol_ms={aol_ms:.2f} alerts_ms={alerts_ms:.2f} publish_ms={publish_ms:.2f} "
+        f"nav_active={getattr(self.sm['iqNavState'], 'active', False)}",
+        interval_sec=1.0,
+      )
+
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+      self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      # Params can be changed while selfdrived is running. Keep the live value in
+      # the same valid enum range enforced during startup; otherwise a stale value
+      # (for example 3) makes the alert callback lookup raise KeyError and kills
+      # selfdrived.
+      self.personality = get_sanitize_int_param(
+        "LongitudinalPersonality",
+        min(log.LongitudinalPersonality.schema.enumerants.values()),
+        max(log.LongitudinalPersonality.schema.enumerants.values()),
+        self.params,
+      )
+      self.nav_exit_lane_change = self._read_nav_exit_lane_change()
+      self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
+
+      self.aol.read_params()
+      time.sleep(0.1)
+
+  def run(self):
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e, ))
+    try:
+      t.start()
+      while True:
+        self.step()
+        self.rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+  lock_memory()
+  s = SelfdriveD()
+  s.run()
+
+if __name__ == "__main__":
+  main()

selfdrive/selfdrived/state.py

@@ -0,0 +1,98 @@
+from cereal import log
+from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.common.realtime import DT_CTRL
+
+State = log.SelfdriveState.OpenpilotState
+
+SOFT_DISABLE_TIME = 3  # seconds
+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]
+    self.state = State.disabled
+    self.soft_disable_timer = 0
+
+  def update(self, events: Events):
+    # 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)
+
+    self.current_alert_types = [ET.PERMANENT]
+
+    # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
+    if self.state != State.disabled:
+      # user and immediate disable always have priority in a non-disabled state
+      if events.contains(ET.USER_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.USER_DISABLE)
+
+      elif events.contains(ET.IMMEDIATE_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
+
+      else:
+        # ENABLED
+        if self.state == State.enabled:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL):
+            self.state = State.overriding
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
+
+        # SOFT DISABLING
+        elif self.state == State.softDisabling:
+          if not events.contains(ET.SOFT_DISABLE):
+            # no more soft disabling condition, so go back to ENABLED
+            self.state = State.enabled
+
+          elif self.soft_disable_timer > 0:
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+
+          elif self.soft_disable_timer <= 0:
+            self.state = State.disabled
+
+        # PRE ENABLING
+        elif self.state == State.preEnabled:
+          if not events.contains(ET.PRE_ENABLE):
+            self.state = State.enabled
+          else:
+            self.current_alert_types.append(ET.PRE_ENABLE)
+
+        # OVERRIDING
+        elif self.state == State.overriding:
+          if events.contains(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+          elif not (events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL)):
+            self.state = State.enabled
+          else:
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
+
+    # DISABLED
+    elif self.state == State.disabled:
+      if events.contains(ET.ENABLE):
+        if events.contains(ET.NO_ENTRY):
+          self.current_alert_types.append(ET.NO_ENTRY)
+
+        else:
+          if events.contains(ET.PRE_ENABLE):
+            self.state = State.preEnabled
+          elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL):
+            self.state = State.overriding
+          else:
+            self.state = State.enabled
+          self.current_alert_types.append(ET.ENABLE)
+
+    # Check if openpilot is engaged and actuators are enabled
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+    if active:
+      self.current_alert_types.append(ET.WARNING)
+    return enabled, active
+

selfdrive/selfdrived/tests/test_alertmanager.py

@@ -0,0 +1,60 @@
+import random
+
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
+
+from openpilot.iqpilot.common.atlas_alerts import NULL_ALERT as EmptyAlert
+
+
+class TestAlertManager:
+
+  def test_duration(self):
+    """
+      Enforce that an alert lasts for max(alert duration, duration the alert is added)
+    """
+    for duration in range(1, 100):
+      alert = None
+      while not isinstance(alert, Alert):
+        event = random.choice([e for e in EVENTS.values() if len(e)])
+        alert = random.choice(list(event.values()))
+
+      alert.duration = duration
+
+      # check two cases:
+      # - alert is added to AM for <= the alert's duration
+      # - alert is added to AM for > alert's duration
+      for greater in (True, False):
+        if greater:
+          add_duration = duration + random.randint(1, 10)
+        else:
+          add_duration = random.randint(1, duration)
+        show_duration = max(duration, add_duration)
+
+        AM = AlertManager()
+        for frame in range(duration+10):
+          if frame < add_duration:
+            AM.add_many(frame, [alert, ])
+          AM.process_alerts(frame, set())
+
+          shown = AM.current_alert != EmptyAlert
+          should_show = frame <= show_duration
+          assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
+
+      # check one case:
+      # - if alert is re-added to AM before it ends the duration is extended
+      if duration > 1:
+        AM = AlertManager()
+        show_duration = duration * 2
+        for frame in range(duration * 2 + 10):
+          if frame == 0:
+            AM.add_many(frame, [alert, ])
+
+          if frame == duration:
+            # add alert one frame before it ends
+            assert AM.current_alert == alert
+            AM.add_many(frame, [alert, ])
+          AM.process_alerts(frame, set())
+
+          shown = AM.current_alert != EmptyAlert
+          should_show = frame <= show_duration
+          assert shown == should_show, f"{frame=} {duration=}"

selfdrive/selfdrived/tests/test_alerts.py

@@ -0,0 +1,151 @@
+import copy
+import json
+import os
+import random
+from PIL import Image, ImageDraw, ImageFont
+
+from cereal import log, car
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
+from openpilot.selfdrive.selfdrived.events import invalid_lkas_setting_alert, invalid_lkas_setting_no_entry_alert
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+
+AlertSize = log.SelfdriveState.AlertSize
+
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")
+
+# TODO: add callback alerts
+ALERTS = []
+for event_types in EVENTS.values():
+  for alert in event_types.values():
+    ALERTS.append(alert)
+
+
+class TestAlerts:
+
+  @classmethod
+  def setup_class(cls):
+    with open(OFFROAD_ALERTS_PATH) as f:
+      cls.offroad_alerts = json.loads(f.read())
+
+      # Create fake objects for callback
+      cls.CS = car.CarState.new_message()
+      cls.CP = car.CarParams.new_message()
+      cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
+      cls.sm = SubMaster(cfg.pubs)
+
+  def test_events_defined(self):
+    # Ensure all events in capnp schema are defined in events.py
+    events = log.OnroadEvent.EventName.schema.enumerants
+
+    for name, e in events.items():
+      if not name.endswith("DEPRECATED") and not name.startswith("eventReserved"):
+        fail_msg = f"{name} @{e} not in EVENTS"
+        assert e in EVENTS.keys(), fail_msg
+
+  # ensure alert text doesn't exceed allowed width
+  def test_alert_text_length(self):
+    font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+
+    max_text_width = 2160 - 300  # full screen width is usable, minus sidebar
+    draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
+
+    fonts = {
+      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+                      ImageFont.truetype(regular_font_path, 66)],
+    }
+
+    for alert in ALERTS:
+      if not isinstance(alert, Alert):
+        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+
+      # for full size alerts, both text fields wrap the text,
+      # so it's unlikely that they  would go past the max width
+      if alert.alert_size in (AlertSize.none, AlertSize.full):
+        continue
+
+      for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
+        if i >= len(fonts[alert.alert_size]):
+          break
+
+        font = fonts[alert.alert_size][i]
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
+        msg = f"type: {alert.alert_type} msg: {txt}"
+        assert width <= max_text_width, msg
+
+  def test_alert_sanity_check(self):
+    for event_types in EVENTS.values():
+      for event_type, a in event_types.items():
+        # TODO: add callback alerts
+        if not isinstance(a, Alert):
+          continue
+
+        if a.alert_size == AlertSize.none:
+          assert len(a.alert_text_1) == 0
+          assert len(a.alert_text_2) == 0
+        elif a.alert_size == AlertSize.small:
+          assert len(a.alert_text_1) > 0
+          assert len(a.alert_text_2) == 0
+        elif a.alert_size == AlertSize.mid:
+          assert len(a.alert_text_1) > 0
+          assert len(a.alert_text_2) > 0
+        else:
+          assert len(a.alert_text_1) > 0
+
+        assert a.duration >= 0.
+
+        if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
+          assert a.creation_delay == 0.
+
+  def test_offroad_alerts(self):
+    params = Params()
+    for a in self.offroad_alerts:
+      # set the alert
+      alert = copy.copy(self.offroad_alerts[a])
+      set_offroad_alert(a, True)
+      alert['extra'] = ''
+      assert alert == params.get(a)
+
+      # then delete it
+      set_offroad_alert(a, False)
+      assert params.get(a) is None
+
+  def test_offroad_alerts_extra_text(self):
+    params = Params()
+    for i in range(50):
+      # set the alert
+      a = random.choice(list(self.offroad_alerts))
+      alert = self.offroad_alerts[a]
+      set_offroad_alert(a, True, extra_text="a"*i)
+
+      written_alert = params.get(a)
+      assert "a"*i == written_alert['extra']
+      assert alert["text"] == written_alert['text']
+
+  def test_invalid_lkas_setting_alert_tesla_dashcam_mode(self):
+    self.CP.brand = "tesla"
+    alert = invalid_lkas_setting_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+    no_entry = invalid_lkas_setting_no_entry_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+
+    assert alert.alert_text_1 == "Dashcam Mode"
+    assert alert.alert_text_2 == "FSD / Autosteer is active"
+    assert no_entry.alert_text_1 == "Dashcam Mode"
+    assert no_entry.alert_text_2 == "FSD / Autosteer is active"
+
+  def test_invalid_lkas_setting_alert_non_tesla_unchanged(self):
+    self.CP.brand = "mazda"
+    alert = invalid_lkas_setting_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+    no_entry = invalid_lkas_setting_no_entry_alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
+
+    assert alert.alert_text_1 == "Invalid LKAS setting"
+    assert alert.alert_text_2 == "Enable your car's LKAS to engage"
+    assert no_entry.alert_text_1 == "openpilot Unavailable"
+    assert no_entry.alert_text_2 == "Invalid LKAS setting"

selfdrive/selfdrived/tests/test_longitudinal_pref_persistence.py

@@ -0,0 +1,40 @@
+from cereal import car
+
+from openpilot.selfdrive.selfdrived.selfdrived import _cleanup_startup_params, get_sanitize_int_param
+
+
+class DummyParams:
+  def __init__(self):
+    self.removed: list[str] = []
+
+  def remove(self, key: str) -> None:
+    self.removed.append(key)
+
+
+class TestLongitudinalPrefPersistence:
+  def test_startup_cleanup_preserves_persistent_longitudinal_preferences(self):
+    params = DummyParams()
+    cp = car.CarParams()
+    cp.alphaLongitudinalAvailable = False
+    cp.openpilotLongitudinalControl = False
+
+    _cleanup_startup_params(cp, params)
+
+    assert params.removed == []
+
+  def test_invalid_personality_is_clamped_before_use(self):
+    class ParamsWithInvalidPersonality:
+      def __init__(self):
+        self.value = 3
+
+      def get(self, key: str, return_default: bool = False) -> int:
+        assert key == "LongitudinalPersonality"
+        return self.value
+
+      def put(self, key: str, value: int) -> None:
+        assert key == "LongitudinalPersonality"
+        self.value = value
+
+    params = ParamsWithInvalidPersonality()
+    assert get_sanitize_int_param("LongitudinalPersonality", 0, 2, params) == 2
+    assert params.value == 2

selfdrive/selfdrived/tests/test_state_machine.py

@@ -0,0 +1,92 @@
+from cereal import log
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
+from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
+
+State = log.SelfdriveState.OpenpilotState
+
+# The event types that maintain the current state
+MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
+                   State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
+ALL_STATES = tuple(State.schema.enumerants.values())
+# The event types checked in DISABLED section of state machine
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
+
+
+def make_event(event_types):
+  event = {}
+  for ev in event_types:
+    event[ev] = NormalPermanentAlert("alert")
+  EVENTS[0] = event
+  return 0
+
+
+class TestStateMachine:
+  def setup_method(self):
+    self.events = Events()
+    self.state_machine = StateMachine()
+    self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+
+  def test_immediate_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  def test_user_disable(self):
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.USER_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert State.disabled == self.state_machine.state
+        self.events.clear()
+
+  def test_soft_disable(self):
+    for state in ALL_STATES:
+      if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
+        continue
+      for et in MAINTAIN_STATES[state]:
+        self.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.state_machine.state = state
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
+        self.events.clear()
+
+  def test_soft_disable_timer(self):
+    self.state_machine.state = State.enabled
+    self.events.add(make_event([ET.SOFT_DISABLE]))
+    self.state_machine.update(self.events)
+    for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
+      assert self.state_machine.state == State.softDisabling
+      self.state_machine.update(self.events)
+
+    assert self.state_machine.state == State.disabled
+
+  def test_no_entry(self):
+    # Make sure noEntry keeps us disabled
+    for et in ENABLE_EVENT_TYPES:
+      self.events.add(make_event([ET.NO_ENTRY, et]))
+      self.state_machine.update(self.events)
+      assert self.state_machine.state == State.disabled
+      self.events.clear()
+
+  def test_no_entry_pre_enable(self):
+    # preEnabled with noEntry event
+    self.state_machine.state = State.preEnabled
+    self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
+    self.state_machine.update(self.events)
+    assert self.state_machine.state == State.preEnabled
+
+  def test_maintain_states(self):
+    # Given current state's event type, we should maintain state
+    for state in ALL_STATES:
+      for et in MAINTAIN_STATES[state]:
+        self.state_machine.state = state
+        self.events.add(make_event([et]))
+        self.state_machine.update(self.events)
+        assert self.state_machine.state == state
+        self.events.clear()