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simply checks

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This commit is contained in:
Jason Wen
2024-11-14 16:59:56 -05:00
parent 23f417f450
commit 80ebb43365
4 changed files with 2 additions and 14 deletions
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cereal/custom.capnp
-1
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@@ -16,7 +16,6 @@ struct SelfdriveStateSP @0x81c2f05a394cf4af {
enabled @1 :Bool;
active @2 :Bool;
available @3 :Bool;
on @4 :Bool;
enum ModifiedAssistDrivingSystemState {
disabled @0;
selfdrive/controls/controlsd.py
+1 -1
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@@ -95,7 +95,7 @@ class Controls:
ss_sp = self.sm['selfdriveStateSP']
CC.madsActive = ss_sp.mads.available and ss_sp.mads.active
_lat_active = ss_sp.mads.available and ss_sp.mads.enabled if ss_sp.mads.on else self.sm['selfdriveState'].active
_lat_active = ss_sp.mads.enabled if ss_sp.mads.available else self.sm['selfdriveState'].active
CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
selfdrive/selfdrived/selfdrived.py
+1 -2
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@@ -465,8 +465,7 @@ class SelfdriveD:
mads.state = self.mads.state_machine.state
mads.enabled = self.mads.enabled
mads.active = self.mads.active
mads.available = self.mads.available
mads.on = self.mads.enabled_toggle
mads.available = self.mads.enabled_toggle
self.pm.send('selfdriveStateSP', ss_sp_msg)
sunnypilot/mads/mads.py
-10
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@@ -26,14 +26,6 @@ class ModifiedAssistDrivingSystem:
self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake", self.selfdrive.params)
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
def update_availability(self, CS: car.CarState) -> None:
if self.main_enabled_toggle:
self.available = CS.cruiseState.available
if self.selfdrive.CP.carName == "hyundai":
if any(be.type == ButtonType.lkas and be.pressed for be in CS.buttonEvents):
self.available = True
def update_events(self, CS: car.CarState):
self.selfdrive.events.remove(EventName.pcmDisable)
self.selfdrive.events.remove(EventName.buttonCancel)
@@ -93,8 +85,6 @@ class ModifiedAssistDrivingSystem:
if not self.enabled_toggle:
return
self.update_availability(CS)
self.update_events(CS)
if not self.selfdrive.CP.passive and self.selfdrive.initialized: