alternative experience

selfdrive/car/card.py

@@ -24,6 +24,8 @@ from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import Events, ET
 
+from openpilot.sunnypilot.mads.mads import ModifiedAssistDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = car.OnroadEvent.EventName
@@ -116,6 +118,7 @@ class Car:
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+    self.CP.alternativeExperience |= ModifiedAssistDrivingSystem(self).set_alternative_experience()
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 

sunnypilot/mads/mads.py

@@ -1,7 +1,8 @@
 from cereal import car, custom
-from openpilot.sunnypilot.mads.state import Disabled, Paused, Enabled, SoftDisabling, Overriding
 
-from openpilot.selfdrive.selfdrived.events import Events
+from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.sunnypilot.mads.state import Disabled, Paused, Enabled, SoftDisabling, Overriding
 
 State = custom.SelfdriveStateSP.ModifiedAssistDrivingSystem.ModifiedAssistDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
@@ -25,11 +26,20 @@ class ModifiedAssistDrivingSystem:
 
     self.enabled_toggle = True  # TODO-SP: Apply with toggle
     self.main_enabled_toggle = True  # TODO-SP: Apply with toggle
-    self.disengage_on_brake_toggle = False  # TODO-SP: Apply with toggle
+    self.disengage_lateral_on_brake_toggle = False  # TODO-SP: Apply with toggle
 
     self.mads_enabled = False
     self.mads_alt_button_enabled = False
 
+  def set_alternative_experience(self, alt_experience: int = 0):
+    if self.enabled_toggle:
+      if self.disengage_lateral_on_brake_toggle:
+        alt_experience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
+      else:
+        alt_experience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+
+    return alt_experience
+
   def update_availability(self, CS: car.CarState, available: bool = False) -> bool:
     if self.main_enabled_toggle:
       available |= CS.cruiseState.available
@@ -53,7 +63,7 @@ class ModifiedAssistDrivingSystem:
       self.selfdrive.events.remove(EventName.wrongCruiseMode)
       self.selfdrive.events.remove(EventName.wrongCarMode)
 
-    if self.disengage_on_brake_toggle:
+    if self.disengage_lateral_on_brake_toggle:
       if self.selfdrive.events.has(EventName.brakeHold):
         self.selfdrive.events.remove(EventName.brakeHold)
         self.selfdrive.events.add(EventName.silentBrakeHold)