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This commit is contained in:
Jason Wen
2024-11-15 11:39:13 -05:00
parent 8f0639ca6c
commit 6fa78b1db4
1 changed files with 18 additions and 19 deletions
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sunnypilot/mads/mads.py
+18 -19
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@@ -18,7 +18,6 @@ class ModifiedAssistDrivingSystem:
self.allow_always = False
self.selfdrive = selfdrive
self.selfdrive.enabled_prev = False
self.selfdrive.active_prev = False
self.state_machine = StateMachine(self)
if self.selfdrive.CP.carName == "hyundai":
@@ -59,27 +58,27 @@ class ModifiedAssistDrivingSystem:
if self.selfdrive.events.has(EventName.buttonEnable):
self.selfdrive.events.remove(EventName.buttonEnable)
if CS.cruiseState.available:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
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 and (CS.cruiseState.available or self.allow_always):
if self.active:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualSteeringRequired)
else:
self.selfdrive.events.add(EventName.lkasDisable)
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 and (CS.cruiseState.available or self.allow_always):
if self.active:
if self.selfdrive.enabled:
self.selfdrive.events.add(EventName.manualSteeringRequired)
else:
self.selfdrive.events.add(EventName.lkasEnable)
if be.type == ButtonType.mainCruise and be.pressed and not self.selfdrive.CP.pcmCruise:
if self.active:
self.selfdrive.events.add(EventName.lkasDisable)
else:
self.selfdrive.events.add(EventName.lkasEnable)
if be.type == ButtonType.mainCruise and be.pressed and not self.selfdrive.CP.pcmCruise:
if self.active:
self.selfdrive.events.add(EventName.lkasDisable)
if CS.cruiseState.available:
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
elif self.selfdrive.CS_prev.cruiseState.available:
@@ -97,4 +96,4 @@ class ModifiedAssistDrivingSystem:
self.enabled, self.active = self.state_machine.update(self.selfdrive.events)
# Copy of previous SelfdriveD states for MADS events handling
self.selfdrive.enabled_prev, self.selfdrive.active_prev = self.selfdrive.enabled, self.selfdrive.active
self.selfdrive.enabled_prev = self.selfdrive.enabled