MADS: Rivian support (#936)

* MADS: Tesla and Rivian support

* request lateral if acc is engaged

* try this out

* fix

* make sure we keep the toggle off for tesla

* namedtuple

* disallow steering past 90 degrees for rivian

* whoops

* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"

This reverts commit 8dec4ea5

* both rivian and tesla

* enforce disengage on brake steering mode for Rivian and Tesla

* wrong one

* MADS: Steering Mode on Brake Pedal Press

* bump

* bump

* descriptions

* bump

* bump

* no tesla or rivian yet

* codecov v5

* Revert "codecov v5"

This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.

* cleanup

* refactor description

* sync name

* fix

* make sure we don't allow if brake was already being pressed

* no longer needed

* proper ui!

* allow LKAS tx at all times with MADS

* extra

* this ain't right

* try this

* test only

* bring them back

* some dynamic checks

* dynamic description for mads toggle

* one place for limited platforms

* just rivian

* not here

* Revert "not here"

This reverts commit 53271b942839feb706e393254a3516097cc72890.

* get them out

* get them out

* no longer needed

* Revert "get them out"

This reverts commit 532b671bfb8bf76d5b4ef6349e5a1e3cd760dc3e.

* bump

* bump

* less

* Revert "bump"

This reverts commit 05ee4be04f190aaaa61bf18b0884b09accd74522.

sunnypilot/mads/helpers.py

@@ -17,7 +17,14 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def read_steering_mode_param(params: Params):
+def get_mads_limited_brands(CP: structs.CarParams) -> bool:
+  return CP.brand in ("rivian", )
+
+
+def read_steering_mode_param(CP: structs.CarParams, params: Params):
+  if get_mads_limited_brands(CP):
+    return MadsSteeringModeOnBrake.DISENGAGE
+
   try:
     return int(params.get("MadsSteeringMode"))
   except (ValueError, TypeError):
@@ -26,7 +33,7 @@ def read_steering_mode_param(params: Params):
 
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(params)
+  steering_mode = read_steering_mode_param(CP, params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
@@ -49,7 +56,8 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
-  mads_partial_support = False
+  # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP)
   if mads_partial_support:
     params.put("MadsSteeringMode", "2")
     params.put_bool("MadsUnifiedEngagementMode", True)
@@ -57,6 +65,6 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
 
   # MADS Disabled - No Support
   # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
-  if CP.brand in ("rivian", "tesla"):
+  # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling
+  if CP.brand in ("tesla", ):
     params.remove("Mads")

sunnypilot/mads/mads.py

@@ -10,7 +10,7 @@ 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.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -45,10 +45,13 @@ class ModularAssistiveDrivingSystem:
       if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
+    if get_mads_limited_brands(self.CP):
+      self.no_main_cruise = True
+
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):