github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
77 lines
3.0 KiB
Python
77 lines
3.0 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.common.params import Params
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from opendbc.car import structs
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from opendbc.safety import ALTERNATIVE_EXPERIENCE
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from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
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from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
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MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
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class MadsSteeringModeOnBrake:
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REMAIN_ACTIVE = 0
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PAUSE = 1
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DISENGAGE = 2
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def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
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if CP.brand == 'rivian':
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return True
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if CP.brand == 'tesla':
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if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
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return True
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screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
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return screen_button == MadsScreenButtonType.OFF
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return False
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def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
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if get_mads_limited_brands(CP, CP_SP, params):
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return MadsSteeringModeOnBrake.DISENGAGE
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return params.get("MadsSteeringMode", return_default=True)
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def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
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enabled = params.get_bool("Mads")
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steering_mode = read_steering_mode_param(CP, CP_SP, params)
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if enabled:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
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if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
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elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
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def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
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if CP.brand == "hyundai":
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# TODO-SP: This should be separated from MADS module for future implementations
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# Use "HyundaiLongitudinalMainCruiseToggleable" param
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hyundai_cruise_main_toggleable = True
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if hyundai_cruise_main_toggleable:
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CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
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CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
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# MADS Partial Support
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# MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
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# Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
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# TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
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mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
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if mads_partial_support:
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params.put("MadsSteeringMode", 2, block=True)
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params.put_bool("MadsUnifiedEngagementMode", True, block=True)
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# no ACC MAIN button for these brands
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if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
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params.remove("MadsMainCruiseAllowed")
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