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Unified Engagement Mode: more

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This commit is contained in:
Jason Wen
2024-11-13 20:15:02 -05:00
parent fa3ce0e2a3
commit 5efd1d63bb
13 changed files with 53 additions and 1 deletions
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selfdrive/ui/qt/offroad/developer_panel.cc
+3
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@@ -43,4 +43,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
auto madsDisengageLateralOnBrakeToggle = new ParamControl("MadsDisengageLateralOnBrake", tr("MADS: Disengage Lateral on Brake"), "", "");
addItem(madsDisengageLateralOnBrakeToggle);
auto madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("MADS: Unified Engagement Mode"), "", "");
addItem(madsUnifiedEngagementModeToggle);
}
selfdrive/ui/translations/main_ar.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_de.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_es.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_fr.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_ja.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_ko.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_pt-BR.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_th.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_tr.ts
+4
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@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_zh-CHS.ts
+4
View File
@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
selfdrive/ui/translations/main_zh-CHT.ts
+4
View File
@@ -135,6 +135,10 @@
<source>Modular Assistive Driving System (MADS)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>MADS: Unified Engagement Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
sunnypilot/mads/mads.py
+6 -1
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@@ -36,7 +36,6 @@ class ModifiedAssistDrivingSystem:
return available
def update_events(self, CS: car.CarState):
# TODO-SP: Handle pcmEnable and buttonEnable conditionally below
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
@@ -61,6 +60,12 @@ class ModifiedAssistDrivingSystem:
if self.state_machine.state == State.paused and self.active:
self.selfdrive.events.add(EventName.silentLkasEnable)
if (self.unified_engagement_mode and self.active) or not self.unified_engagement_mode:
if self.selfdrive.events.has(EventName.pcmEnable):
self.selfdrive.events.remove(EventName.pcmEnable)
if self.selfdrive.events.has(EventName.buttonEnable):
self.selfdrive.events.remove(EventName.buttonEnable)
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
if self.selfdrive.enabled_prev: