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unify silent enable

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This commit is contained in:
Jason Wen
2024-11-20 12:08:26 -05:00
parent d7629c55df
commit a89e79e4bb
1 changed files with 4 additions and 9 deletions
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sunnypilot/mads/mads.py
+4 -9
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@@ -40,10 +40,6 @@ class ModularAssistiveDrivingSystem:
self.events.remove(EventName.pcmEnable)
self.events.remove(EventName.buttonEnable)
def update_silent_lkas_enable():
if self.state_machine.state == State.paused:
self.events.add(EventName.silentLkasEnable)
def transition_paused_state():
if self.state_machine.state != State.paused:
self.events.add(EventName.silentLkasDisable)
@@ -59,16 +55,15 @@ class ModularAssistiveDrivingSystem:
self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
transition_paused_state()
if not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT):
update_silent_lkas_enable()
if self.disengage_lateral_on_brake_toggle:
if self.events.has(EventName.pedalPressed):
self.events.add(EventName.silentPedalPressed)
transition_paused_state()
if not self.events.has(EventName.silentPedalPressed):
update_silent_lkas_enable()
if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed)) and \
not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT):
if self.state_machine.state == State.paused:
self.events.add(EventName.silentLkasEnable)
if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
update_unified_engagement_mode()