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MADS: transition to soft-disable for specific gear states (#791)

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* MADS: transition to soft-disable for specific gear states

This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.

* structs
This commit is contained in:
Jason Wen
2025-04-11 16:06:45 -04:00
committed by GitHub
parent 6a00ac9cd0
commit fb87ba681a
1 changed files with 8 additions and 6 deletions
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sunnypilot/mads/mads.py
+8 -6
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@@ -5,16 +5,18 @@ This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from cereal import car, log, custom
from cereal import log, custom
from opendbc.car import structs
from opendbc.car.hyundai.values import HyundaiFlags
from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
EventName = log.OnroadEvent.EventName
EventNameSP = custom.OnroadEventSP.EventName
SafetyModel = car.CarParams.SafetyModel
GearShifter = structs.CarState.GearShifter
SafetyModel = structs.CarParams.SafetyModel
SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -48,7 +50,7 @@ class ModularAssistiveDrivingSystem:
self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
def update_events(self, CS: car.CarState):
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:
@@ -70,7 +72,7 @@ class ModularAssistiveDrivingSystem:
if self.events.has(EventName.seatbeltNotLatched):
replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
transition_paused_state()
if self.events.has(EventName.wrongGear):
if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
transition_paused_state()
if self.events.has(EventName.reverseGear):
@@ -133,7 +135,7 @@ class ModularAssistiveDrivingSystem:
else:
self.events.remove(EventName.wrongCarMode)
def update(self, CS: car.CarState):
def update(self, CS: structs.CarState):
if not self.enabled_toggle:
return