NNFF

Added toggle to enable NNFF.

Credit goes to Twilsonco!

https: //github.com/twilsonco
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>

selfdrive/controls/lib/events.py

@@ -7,6 +7,7 @@ from typing import Dict, Union, Callable, List, Optional
 from cereal import log, car, custom
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from openpilot.system.version import get_short_branch
@@ -260,6 +261,22 @@ def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, m
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
 
+
+def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  model_name = Params("/dev/shm/params").get("NNFFModelName")
+  if model_name == "":
+    return Alert(
+      "NNFF Torque Controller not available",
+      "Donate logs to Twilsonco to get it added!",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0)
+  else:
+    return Alert(
+      "NNFF Torque Controller loaded",
+      model_name,
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0)
+
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
@@ -983,6 +1000,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
 
+  FrogPilotEventName.torqueNNLoad: {
+    ET.PERMANENT: torque_nn_load_alert,
+  },
+
 }