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MADS: prep for refactor (#930)

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* MADS: prep for refactor

* no longer
This commit is contained in:
Jason Wen
2025-05-17 23:07:05 -04:00
committed by GitHub
parent b92d717f2f
commit 80679b74e6
1 changed files with 25 additions and 26 deletions
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sunnypilot/mads/mads.py
+25 -26
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@@ -26,7 +26,6 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
class ModularAssistiveDrivingSystem:
def __init__(self, selfdrive):
self.CP = selfdrive.CP
self.CS_prev = selfdrive.CS_prev
self.params = selfdrive.params
self.enabled = False
@@ -55,7 +54,7 @@ class ModularAssistiveDrivingSystem:
self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator):
if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
return True
return False
@@ -82,38 +81,38 @@ class ModularAssistiveDrivingSystem:
return False
def transition_paused_state(self):
if self.state_machine.state != State.paused:
self.events_sp.add(EventNameSP.silentLkasDisable)
def replace_event(self, old_event: int, new_event: int):
self.events.remove(old_event)
self.events_sp.add(new_event)
def update_events(self, CS: structs.CarState):
def transition_paused_state():
if self.state_machine.state != State.paused:
self.events_sp.add(EventNameSP.silentLkasDisable)
def replace_event(old_event: int, new_event: int):
self.events.remove(old_event)
self.events_sp.add(new_event)
if not self.selfdrive.enabled and self.enabled:
if self.events.has(EventName.doorOpen):
replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
transition_paused_state()
self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
self.transition_paused_state()
if self.events.has(EventName.seatbeltNotLatched):
replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
transition_paused_state()
self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
self.transition_paused_state()
if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
transition_paused_state()
self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
self.transition_paused_state()
if self.events.has(EventName.reverseGear):
replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
transition_paused_state()
self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
self.transition_paused_state()
if self.events.has(EventName.brakeHold):
replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
transition_paused_state()
self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
self.transition_paused_state()
if self.events.has(EventName.parkBrake):
replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
transition_paused_state()
self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
self.transition_paused_state()
if self.pause_lateral_on_brake_toggle:
if self.pedal_pressed_non_gas_pressed(CS):
transition_paused_state()
self.transition_paused_state()
self.events.remove(EventName.preEnableStandstill)
self.events.remove(EventName.belowEngageSpeed)
@@ -127,7 +126,7 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.buttonEnable)
else:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.CS_prev.cruiseState.available:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.events_sp.add(EventNameSP.lkasEnable)
for be in CS.buttonEvents:
@@ -145,7 +144,7 @@ class ModularAssistiveDrivingSystem:
if not CS.cruiseState.available:
self.events.remove(EventName.buttonEnable)
if self.CS_prev.cruiseState.available:
if self.selfdrive.CS_prev.cruiseState.available:
self.events_sp.add(EventNameSP.lkasDisable)
if self.should_silent_lkas_enable(CS):
@@ -158,7 +157,7 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.wrongCruiseMode)
if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
if self.events.has(EventName.wrongCarMode):
replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
else:
self.events.remove(EventName.wrongCarMode)