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MADS: Refactor Unified Engagement Mode (#927)

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This commit is contained in:
Jason Wen
2025-05-17 10:34:38 -04:00
committed by GitHub
parent 52dc4141c5
commit 7565dd2545
1 changed files with 16 additions and 7 deletions
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sunnypilot/mads/mads.py
+16 -7
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@@ -69,13 +69,20 @@ class ModularAssistiveDrivingSystem:
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)
if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
self.events.remove(EventName.pcmEnable)
self.events.remove(EventName.buttonEnable)
def block_unified_engagement_mode(self) -> bool:
# UEM disabled
if not self.unified_engagement_mode:
return True
if self.enabled:
return True
if self.selfdrive.enabled and self.selfdrive.enabled_prev:
return True
return False
def update_events(self, CS: structs.CarState):
def transition_paused_state():
if self.state_machine.state != State.paused:
self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -115,7 +122,9 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.manualRestart)
if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
update_unified_engagement_mode()
if self.block_unified_engagement_mode():
self.events.remove(EventName.pcmEnable)
self.events.remove(EventName.buttonEnable)
else:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.CS_prev.cruiseState.available: