From 9c28583171ba3336f3c93d6e9d567263dda79ac5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 3 Jun 2025 00:28:55 -0400
Subject: [PATCH] ui: include MADS enabled state to `engaged` check (#976)

* ui: include MADS enabled state to `engaged` check

* let's bump it up
---
 selfdrive/ui/sunnypilot/ui.h | 5 +++++
 selfdrive/ui/ui.h            | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 08e1d37b0f..a94dfca3b3 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -20,6 +20,11 @@ class UIStateSP : public UIState {
 public:
   UIStateSP(QObject *parent = 0);
   void updateStatus() override;
+  inline bool engaged() const override {
+    return scene.started && (
+      (*sm)["selfdriveState"].getSelfdriveState().getEnabled() || (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled()
+    );
+  }
   void setSunnylinkRoles(const std::vector<RoleModel> &roles);
   void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ef4f8e6d9..4ead8aecb9 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -72,7 +72,7 @@ class UIState : public QObject {
 public:
   UIState(QObject* parent = 0);
   virtual void updateStatus();
-  inline bool engaged() const {
+  virtual inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }