From 4603fd0f03109ef631edf2db456221a1b2155bb6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 13 Nov 2024 19:59:19 -0500
Subject: [PATCH] Unified Engagement Mode: init

---
 common/params.cc           | 1 +
 sunnypilot/mads/helpers.py | 4 ++++
 sunnypilot/mads/mads.py    | 1 +
 system/manager/manager.py  | 1 +
 4 files changed, 7 insertions(+)

diff --git a/common/params.cc b/common/params.cc
index 1dfae614fa..5f7e19a4b4 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -206,6 +206,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Mads", PERSISTENT},
     {"MadsCruiseMain", PERSISTENT},
     {"MadsDisengageLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
 };
 
 } // namespace
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index e92e202db4..1a320d2304 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -22,6 +22,10 @@ class MadsParams:
     params = self.init_params(params)
     return params.get_bool("MadsDisengageLateralOnBrake")
 
+  def read_unified_engagement_mode_param(self, params=None):
+    params = self.init_params(params)
+    return params.get_bool("MadsUnifiedEngagementMode")
+
   def set_alternative_experience(self, CP, params):
     enabled = self.read_enabled_param(params)
     disengage_lateral_on_brake = self.read_disengage_lateral_on_brake_param(params)
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 9b0bb00cd6..093dc9d19b 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -23,6 +23,7 @@ class ModifiedAssistDrivingSystem:
     self.enabled_toggle = mads_params.read_enabled_param(self.selfdrive.params)
     self.main_enabled_toggle = mads_params.read_main_enabled_param(self.selfdrive.params)
     self.disengage_lateral_on_brake_toggle = mads_params.read_disengage_lateral_on_brake_param(self.selfdrive.params)
+    self.unified_engagement_mode = mads_params.read_unified_engagement_mode_param(self.selfdrive.params)
 
   def update_availability(self, CS: car.CarState, available: bool = False) -> bool:
     if self.main_enabled_toggle:
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 5aba4881aa..22ccab7355 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -46,6 +46,7 @@ def manager_init() -> None:
     ("Mads", "1"),
     ("MadsCruiseMain", "1"),
     ("MadsDisengageLateralOnBrake", "0"),
+    ("MadsUnifiedEngagementMode", "1"),
   ]
 
   if params.get_bool("RecordFrontLock"):