some cleanup

cereal/custom.capnp

@@ -15,6 +15,7 @@ struct SelfdriveStateSP @0x81c2f05a394cf4af {
     state @0 :ModifiedAssistDrivingSystemState;
     enabled @1 :Bool;
     active @2 :Bool;
+    available @3 :Bool;
 
     enum ModifiedAssistDrivingSystemState {
       disabled @0;

selfdrive/controls/controlsd.py

@@ -92,7 +92,7 @@ class Controls:
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
-    CC.latActive = CC.latActive or self.sm['selfdriveStateSP'].mads.enabled
+    CC.latActive = CC.latActive or (self.sm['selfdriveStateSP'].mads.enabled and self.sm['selfdriveStateSP'].mads.available)
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/selfdrived/selfdrived.py

@@ -450,6 +450,7 @@ class SelfdriveD:
     mads.state = self.mads.state_machine.state
     mads.enabled = self.mads.enabled
     mads.active = self.mads.active
+    mads.available = self.mads.available
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 

sunnypilot/mads/mads.py

@@ -13,6 +13,7 @@ class ModifiedAssistDrivingSystem:
   def __init__(self, selfdrive=None):
     self.enabled = False
     self.active = False
+    self.available = False
     self.state_machine = StateMachine(self)
 
     if selfdrive is not None:
@@ -22,9 +23,6 @@ class ModifiedAssistDrivingSystem:
     self.main_enabled_toggle = True  # TODO-SP: Apply with toggle
     self.disengage_lateral_on_brake_toggle = False  # TODO-SP: Apply with toggle
 
-    self.available = False
-    self.mads_alt_button_enabled = False
-
   def set_alternative_experience(self, alt_experience: int = 0):
     alt_experience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
     if not self.disengage_lateral_on_brake_toggle:
@@ -36,8 +34,6 @@ class ModifiedAssistDrivingSystem:
     if self.main_enabled_toggle:
       available |= CS.cruiseState.available
 
-    available |= self.mads_alt_button_enabled
-
     return available
 
   def update_events(self, CS: car.CarState):
@@ -49,7 +45,7 @@ class ModifiedAssistDrivingSystem:
         self.selfdrive.events.add(EventName.silentWrongGear)
         self.selfdrive.events.remove(EventName.wrongGear)
 
-    if not self.selfdrive.enabled:
+    else:
       self.selfdrive.events.remove(EventName.buttonEnable)
       self.selfdrive.events.remove(EventName.buttonCancel)
       self.selfdrive.events.remove(EventName.wrongCruiseMode)
@@ -65,7 +61,7 @@ class ModifiedAssistDrivingSystem:
         self.selfdrive.events.add(EventName.silentPedalPressed)
 
       if not CS.brakePressed and not CS.brakeHoldActive and not CS.parkingBrake and not CS.regenBraking:
-        if self.current_state == State.paused and self.available:
+        if self.state_machine.state == State.paused and self.available:
           self.selfdrive.events.add(EventName.silentButtonEnable)
 
     for be in CS.buttonEvents:
@@ -86,9 +82,9 @@ class ModifiedAssistDrivingSystem:
     if not self.enabled_toggle:
       return
 
-    self.available = self.update_availability(CS)
-
     self.update_events(CS)
 
+    self.available = self.update_availability(CS)
+
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update(self.selfdrive.events)