mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-24 01:33:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

MADS: evaluate brakePressed and regenBraking for Pause Lateral mode (#926)

Browse Source 
* simplify

* MADS: evaluate brakePressed and regenBraking for Pause Lateral mode

* nah
This commit is contained in:
Jason Wen
2025-05-17 10:09:50 -04:00
committed by GitHub
parent 1e74000f79
commit 52dc4141c5
1 changed files with 26 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/mads/mads.py
+26 -8
View File
@@ -9,6 +9,7 @@ from cereal import log, custom
from opendbc.car import structs
from opendbc.car.hyundai.values import HyundaiFlags
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,6 +25,8 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
class ModularAssistiveDrivingSystem:
def __init__(self, selfdrive):
self.CP = selfdrive.CP
self.CS_prev = selfdrive.CS_prev
self.params = selfdrive.params
self.enabled = False
@@ -35,9 +38,10 @@ class ModularAssistiveDrivingSystem:
self.state_machine = StateMachine(self)
self.events = self.selfdrive.events
self.events_sp = self.selfdrive.events_sp
self.disengage_on_accelerator = not self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
if self.selfdrive.CP.brand == "hyundai":
if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
if self.CP.brand == "hyundai":
if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
self.allow_always = True
# read params on init
@@ -50,6 +54,21 @@ class ModularAssistiveDrivingSystem:
self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator):
return True
return False
def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
if self.pause_lateral_on_brake_toggle and self.pedal_pressed_non_gas_pressed(CS):
return False
if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
return False
return True
def update_events(self, CS: structs.CarState):
def update_unified_engagement_mode():
uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
@@ -86,7 +105,7 @@ class ModularAssistiveDrivingSystem:
transition_paused_state()
if self.pause_lateral_on_brake_toggle:
if CS.brakePressed:
if self.pedal_pressed_non_gas_pressed(CS):
transition_paused_state()
self.events.remove(EventName.preEnableStandstill)
@@ -99,7 +118,7 @@ class ModularAssistiveDrivingSystem:
update_unified_engagement_mode()
else:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
if CS.cruiseState.available and not self.CS_prev.cruiseState.available:
self.events_sp.add(EventNameSP.lkasEnable)
for be in CS.buttonEvents:
@@ -117,11 +136,10 @@ class ModularAssistiveDrivingSystem:
if not CS.cruiseState.available:
self.events.remove(EventName.buttonEnable)
if self.selfdrive.CS_prev.cruiseState.available:
if self.CS_prev.cruiseState.available:
self.events_sp.add(EventNameSP.lkasDisable)
if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
if self.should_silent_lkas_enable(CS):
if self.state_machine.state == State.paused:
self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -141,7 +159,7 @@ class ModularAssistiveDrivingSystem:
self.update_events(CS)
if not self.selfdrive.CP.passive and self.selfdrive.initialized:
if not self.CP.passive and self.selfdrive.initialized:
self.enabled, self.active = self.state_machine.update()
# Copy of previous SelfdriveD states for MADS events handling