From 84b1f363e42293104b4d56ed5b07f549fce381cf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 31 Dec 2025 12:43:36 -0800
Subject: [PATCH] Alert for stock LKAS (#36969)

* alert stock lkas

* high

* i didn't do this
---
 cereal/log.capnp               | 1 +
 selfdrive/car/car_specific.py  | 2 ++
 selfdrive/selfdrived/events.py | 9 +++++++++
 3 files changed, 12 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3a6432c84d..2f300881b1 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index cdeeebdcd5..bc903ec083 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -119,6 +119,8 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 1acfa2964e..35d4bda42f 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -477,6 +477,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.PERMANENT: Alert(
+      "TAKE CONTROL",
+      "Stock LKAS: Lane Departure Detected",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",