From ba11b97c59112cd9c02cd03ff4f0e3f80b74117f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 15 Nov 2024 12:03:28 -0500
Subject: [PATCH] Rename

---
 cereal/custom.capnp                         | 8 ++++----
 selfdrive/selfdrived/selfdrived.py          | 4 ++--
 sunnypilot/mads/mads.py                     | 4 ++--
 sunnypilot/mads/state.py                    | 2 +-
 sunnypilot/mads/tests/test_state_machine.py | 2 +-
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index ddb09e34ff..06d3eec0b3 100644
--- a/cereal/custom.capnp
+++ b/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;
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 43ede9235d..3dceee4c41 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/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)
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index e8527faa03..69946d7bbc 100644
--- a/sunnypilot/mads/mads.py
+++ b/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()
 
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 490e4a480e..d23c888877 100644
--- a/sunnypilot/mads/state.py
+++ b/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)
diff --git a/sunnypilot/mads/tests/test_state_machine.py b/sunnypilot/mads/tests/test_state_machine.py
index a669e824c4..fdce389905 100644
--- a/sunnypilot/mads/tests/test_state_machine.py
+++ b/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,),