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only allow lateral when cruise main or state is on

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This commit is contained in:
Jason Wen
2024-11-14 17:19:23 -05:00
parent ca92ffcb57
commit 652a24f13e
1 changed files with 24 additions and 23 deletions
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sunnypilot/mads/mads.py
+24 -23
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@@ -27,9 +27,6 @@ class ModifiedAssistDrivingSystem:
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
def update_events(self, CS: car.CarState):
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
if self.selfdrive.enabled_prev:
if self.selfdrive.events.has(EventName.wrongGear) and CS.vEgo < 5:
self.selfdrive.events.add(EventName.silentWrongGear)
@@ -57,27 +54,31 @@ class ModifiedAssistDrivingSystem:
if self.selfdrive.events.has(EventName.buttonEnable):
self.selfdrive.events.remove(EventName.buttonEnable)
if self.main_enabled_toggle:
if self.selfdrive.CP.pcmCruise:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
else:
if any(be.type == ButtonType.mainCruise and not be.pressed for be in CS.buttonEvents):
self.selfdrive.events.add(EventName.lkasEnable)
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualLongitudinalRequired)
if be.type == ButtonType.lkas and be.pressed:
if self.active:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualSteeringRequired)
else:
self.selfdrive.events.add(EventName.lkasDisable)
else:
if not self.selfdrive.enabled_prev:
if CS.cruiseState.available:
if self.main_enabled_toggle:
if self.selfdrive.CP.pcmCruise:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
else:
if any(be.type == ButtonType.mainCruise and not be.pressed for be in CS.buttonEvents):
self.selfdrive.events.add(EventName.lkasEnable)
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualLongitudinalRequired)
if be.type == ButtonType.lkas and be.pressed:
if self.active:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualSteeringRequired)
else:
self.selfdrive.events.add(EventName.lkasDisable)
else:
if not self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.lkasEnable)
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
self.selfdrive.events.remove(EventName.pedalPressed)