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use old copy as checks

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This commit is contained in:
Jason Wen
2024-11-13 02:13:23 -05:00
parent eecffb9c8a
commit 8fc21127bd
2 changed files with 12 additions and 7 deletions
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sunnypilot/mads/mads.py
+9 -4
View File
@@ -13,6 +13,8 @@ class ModifiedAssistDrivingSystem:
self.active = False
self.available = False
self.selfdrive = selfdrive
self.selfdrive.enabled_prev = False
self.selfdrive.active_prev = False
self.state_machine = StateMachine(self)
self.enabled_toggle = True # TODO-SP: Apply with toggle
@@ -34,7 +36,7 @@ class ModifiedAssistDrivingSystem:
self.selfdrive.events.remove(EventName.buttonEnable)
self.selfdrive.events.remove(EventName.buttonCancel)
if self.selfdrive.enabled:
if self.selfdrive.enabled_prev:
if self.selfdrive.events.has(EventName.wrongGear) and CS.vEgo < 5:
self.selfdrive.events.add(EventName.silentWrongGear)
self.selfdrive.events.remove(EventName.wrongGear)
@@ -57,16 +59,16 @@ class ModifiedAssistDrivingSystem:
for be in CS.buttonEvents:
if be.type == ButtonType.cancel:
if self.selfdrive.enabled:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualLongitudinalRequired)
if be.type == ButtonType.lkas and be.pressed:
if self.active:
if self.selfdrive.enabled:
if self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.manualSteeringRequired)
else:
self.selfdrive.events.add(EventName.buttonCancel)
else:
if not self.selfdrive.enabled:
if not self.selfdrive.enabled_prev:
self.selfdrive.events.add(EventName.buttonEnable)
self.selfdrive.events.remove(EventName.pedalPressed)
@@ -81,3 +83,6 @@ class ModifiedAssistDrivingSystem:
if not self.selfdrive.CP.passive and self.selfdrive.initialized:
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
sunnypilot/mads/state.py
+3 -3
View File
@@ -19,7 +19,7 @@ class StateMachine:
self.state = State.disabled
def add_current_alert_types(self, alert_type):
if not self.selfdrive.active:
if not self.selfdrive.active_prev:
self.ss_state_machine.current_alert_types.append(alert_type)
def update(self, events: Events):
@@ -46,7 +46,7 @@ class StateMachine:
if self.state == State.enabled:
if events.contains(ET.SOFT_DISABLE):
self.state = State.softDisabling
if not self.selfdrive.active:
if not self.selfdrive.active_prev:
self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
@@ -83,7 +83,7 @@ class StateMachine:
elif self.state == State.overriding:
if events.contains(ET.SOFT_DISABLE):
self.state = State.softDisabling
if not self.selfdrive.active:
if not self.selfdrive.active_prev:
self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
elif not events.contains(ET.OVERRIDE_LATERAL):