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check if engagement is from openpilot's state machine

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This commit is contained in:
Jason Wen
2024-11-15 11:45:11 -05:00
parent a3c9d72a1e
commit aaf35b391e
1 changed files with 10 additions and 9 deletions
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sunnypilot/mads/mads.py
+10 -9
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@@ -52,15 +52,16 @@ class ModifiedAssistDrivingSystem:
if self.state_machine.state == State.paused and self.active:
self.selfdrive.events.add(EventName.silentLkasEnable)
if (self.unified_engagement_mode and self.active) or not self.unified_engagement_mode:
if self.selfdrive.events.has(EventName.pcmEnable):
self.selfdrive.events.remove(EventName.pcmEnable)
if self.selfdrive.events.has(EventName.buttonEnable):
self.selfdrive.events.remove(EventName.buttonEnable)
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
if self.selfdrive.events.has(EventName.pcmEnable) or self.selfdrive.events.has(EventName.buttonEnable):
if (self.unified_engagement_mode and self.active) or not self.unified_engagement_mode:
if self.selfdrive.events.has(EventName.pcmEnable):
self.selfdrive.events.remove(EventName.pcmEnable)
if self.selfdrive.events.has(EventName.buttonEnable):
self.selfdrive.events.remove(EventName.buttonEnable)
else:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
self.selfdrive.events.add(EventName.lkasEnable)
for be in CS.buttonEvents:
if be.type == ButtonType.cancel: