MADS: cleanup param assignments (#683)

selfdrive/car/card.py

@@ -24,7 +24,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
-from openpilot.sunnypilot.mads.mads import MadsParams
+from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 REPLAY = "REPLAY" in os.environ
@@ -126,8 +126,8 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     # mads
-    MadsParams().set_alternative_experience(self.CP)
-    MadsParams().set_car_specific_params(self.CP, self.CP_SP)
+    set_alternative_experience(self.CP, self.params)
+    set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")

sunnypilot/mads/helpers.py

@@ -6,43 +6,37 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.common.params import Params
-
+from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsParams:
-  def __init__(self):
-    self.params = Params()
+def set_alternative_experience(CP: structs.CarParams, params: Params):
+  enabled = params.get_bool("Mads")
+  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
 
-  def read_param(self, key: str):
-    return self.params.get_bool(key)
+  if enabled:
+    CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-  def set_alternative_experience(self, CP):
-    enabled = self.read_param("Mads")
-    pause_lateral_on_brake = self.read_param("MadsPauseLateralOnBrake")
+    if pause_lateral_on_brake:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
-    if enabled:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-      if pause_lateral_on_brake:
-        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  if CP.brand == "hyundai":
+    # TODO-SP: This should be separated from MADS module for future implementations
+    #          Use "HyundaiLongitudinalMainCruiseToggleable" param
+    hyundai_cruise_main_toggleable = True
+    if hyundai_cruise_main_toggleable:
+      CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
+      CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-  def set_car_specific_params(self, CP, CP_SP):
-    if CP.brand == "hyundai":
-      # TODO-SP: This should be separated from MADS module for future implementations
-      #          Use "HyundaiLongitudinalMainCruiseToggleable" param
-      hyundai_cruise_main_toggleable = True
-      if hyundai_cruise_main_toggleable:
-        CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
-        CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
+  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
+  if CP.brand == "tesla":
+    params.remove("Mads")
 
-    # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-    # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-    if CP.brand == "tesla":
-      self.params.remove("Mads")
-
-    # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-    # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-    if CP.brand == "rivian":
-      self.params.remove("Mads")
+  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
+  if CP.brand == "rivian":
+    params.remove("Mads")

sunnypilot/mads/mads.py

@@ -8,8 +8,6 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-
-from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,7 +22,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
-    self.mads_params = MadsParams()
+    self.params = selfdrive.params
 
     self.enabled = False
     self.active = False
@@ -41,14 +39,14 @@ class ModularAssistiveDrivingSystem:
         self.allow_always = True
 
     # read params on init
-    self.enabled_toggle = self.mads_params.read_param("Mads")
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.enabled_toggle = self.params.get_bool("Mads")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
-    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
-    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
+    self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def update_events(self, CS: car.CarState):
     def update_unified_engagement_mode():