From c29f1965d104f721ffbef4715b61918e24693502 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 20 Jan 2025 01:14:53 -0500 Subject: [PATCH] abstract --- sunnypilot/mads/mads.py | 22 +++++++++---------- .../selfdrive/selfdrived/events_base.py | 4 ---- 2 files changed, 10 insertions(+), 16 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index f2bb98bf00..aa002bb5dd 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -82,30 +82,28 @@ class ModularAssistiveDrivingSystem: if self.state_machine.state != State.paused: self.events_sp.add(EventNameSP.silentLkasDisable) + def replace_event(old_event: int, new_event: int): + self.events.remove(old_event) + self.events_sp.add(new_event) + if not self.selfdrive.enabled and self.enabled: if self.events.has(EventName.doorOpen): - self.events.remove(EventName.doorOpen) - self.events_sp.add(EventNameSP.silentDoorOpen) + replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen) transition_paused_state() if self.events.has(EventName.seatbeltNotLatched): - self.events.remove(EventName.seatbeltNotLatched) - self.events_sp.add(EventNameSP.silentSeatbeltNotLatched) + replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched) transition_paused_state() if self.events.has(EventName.wrongGear): - self.events.remove(EventName.wrongGear) - self.events_sp.add(EventNameSP.silentWrongGear) + replace_event(EventName.wrongGear, EventNameSP.silentWrongGear) transition_paused_state() if self.events.has(EventName.reverseGear): - self.events.remove(EventName.reverseGear) - self.events_sp.add(EventNameSP.silentReverseGear) + replace_event(EventName.reverseGear, EventNameSP.silentReverseGear) transition_paused_state() if self.events.has(EventName.brakeHold): - self.events.remove(EventName.brakeHold) - self.events_sp.add(EventNameSP.silentBrakeHold) + replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold) transition_paused_state() if self.events.has(EventName.parkBrake): - self.events.remove(EventName.parkBrake) - self.events_sp.add(EventNameSP.silentParkBrake) + replace_event(EventName.parkBrake, EventNameSP.silentParkBrake) transition_paused_state() if self.pause_lateral_on_brake_toggle: diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py index 653c731e02..505c500c40 100644 --- a/sunnypilot/selfdrive/selfdrived/events_base.py +++ b/sunnypilot/selfdrive/selfdrived/events_base.py @@ -155,10 +155,6 @@ class EventsBase: self.event_counters[event_name] = self.event_counters[event_name] + 1 self.events.remove(event_name) - def replace(self, prev_event_name: int, cur_event_name: int, static: bool = False) -> None: - self.remove(prev_event_name, static) - self.add(cur_event_name, static) - @abstractmethod def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]: raise NotImplementedError