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This commit is contained in:
Jason Wen
2024-11-15 22:59:03 -05:00
parent 5018c11d35
commit bfef1ff20e
1 changed files with 14 additions and 11 deletions
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sunnypilot/mads/mads.py
+14 -11
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@@ -30,6 +30,17 @@ class ModularAssistiveDrivingSystem:
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
def update_events(self, CS: car.CarState):
def update_unified_engagement_mode():
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)
def update_silent_lkas_enable():
if self.state_machine.state == State.paused and self.active:
self.selfdrive.events.add(EventName.silentLkasEnable)
if not self.selfdrive.enabled:
self.selfdrive.events.remove(EventName.wrongCruiseMode)
self.selfdrive.events.remove(EventName.wrongCarMode)
@@ -40,10 +51,8 @@ class ModularAssistiveDrivingSystem:
self.selfdrive.events.remove(EventName.reverseGear)
self.selfdrive.events.add(EventName.silentReverseGear)
# TODO-SP: Combine with L56-L58
if not self.selfdrive.events.has(EventName.silentReverseGear) and not self.selfdrive.events.has(EventName.silentReverseGear):
if self.state_machine.state == State.paused and self.active:
self.selfdrive.events.add(EventName.silentLkasEnable)
update_silent_lkas_enable()
if self.disengage_lateral_on_brake_toggle:
if self.selfdrive.events.has(EventName.brakeHold):
@@ -53,17 +62,11 @@ class ModularAssistiveDrivingSystem:
if self.selfdrive.events.has(EventName.pedalPressed):
self.selfdrive.events.add(EventName.silentPedalPressed)
# TODO-SP: Combine with L44-L46
if not CS.brakePressed and not CS.brakeHoldActive and not CS.parkingBrake and not CS.regenBraking:
if self.state_machine.state == State.paused and self.active:
self.selfdrive.events.add(EventName.silentLkasEnable)
update_silent_lkas_enable()
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)
update_unified_engagement_mode()
else:
if self.main_enabled_toggle:
if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available: