Rename

cereal/custom.capnp

@@ -9,15 +9,15 @@ $Cxx.namespace("cereal");
 
 # you can rename the struct, but don't change the identifier
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
-  mads @0 :ModifiedAssistDrivingSystem;
+  mads @0 :ModularAssistiveDrivingSystem;
 
-  struct ModifiedAssistDrivingSystem {
-    state @0 :ModifiedAssistDrivingSystemState;
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
     enabled @1 :Bool;
     active @2 :Bool;
     available @3 :Bool;
 
-    enum ModifiedAssistDrivingSystemState {
+    enum ModularAssistiveDrivingSystemState {
       disabled @0;
       paused @1;
       enabled @2;

selfdrive/selfdrived/selfdrived.py

@@ -23,7 +23,7 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 
 from openpilot.system.version import get_build_metadata
 
-from openpilot.sunnypilot.mads.mads import ModifiedAssistDrivingSystem
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -133,7 +133,7 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    self.mads = ModifiedAssistDrivingSystem(self)
+    self.mads = ModularAssistiveDrivingSystem(self)
     sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
     self.pm = messaging.PubMaster(sock_services)
 

sunnypilot/mads/mads.py

@@ -3,12 +3,12 @@ from cereal import car, log, custom
 from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine
 
-State = custom.SelfdriveStateSP.ModifiedAssistDrivingSystem.ModifiedAssistDrivingSystemState
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 
 
-class ModifiedAssistDrivingSystem:
+class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
     mads_params = MadsParams()
 

sunnypilot/mads/state.py

@@ -3,7 +3,7 @@ from openpilot.selfdrive.selfdrived.events import ET, Events
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
 
-State = custom.SelfdriveStateSP.ModifiedAssistDrivingSystem.ModifiedAssistDrivingSystemState
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
 
 ENABLED_STATES = (State.enabled, State.softDisabling, State.overriding)

sunnypilot/mads/tests/test_state_machine.py

@@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
 
-State = custom.SelfdriveStateSP.ModifiedAssistDrivingSystem.ModifiedAssistDrivingSystemState
+State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),