show MADS updates

cereal/log.capnp

@@ -194,6 +194,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentBrakeHold @157;
     silentWrongGear @158;
     silentReverseGear @159;
+    madsStatusChanged @160;
 
     soundsUnavailableDEPRECATED @47;
   }

selfdrive/selfdrived/events.py

@@ -356,6 +356,13 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
 
+def mads_status_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  ss = sm["selfdriveState"]
+  mads = sm["selfdriveStateSP"].mads
+  lat_active_str = "ON" if mads.active else "OFF"
+  long_active_str = "ON" if ss.active else "OFF"
+  return NormalPermanentAlert(f"Lateral: {lat_active_str} | Longitudinal: {long_active_str}", duration=1.5)
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -1045,6 +1052,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 
+  EventName.madsStatusChanged: {
+    ET.WARNING: mads_status_changed_alert,
+  },
+
 }
 
 

sunnypilot/mads/mads.py

@@ -17,10 +17,13 @@ class ModularAssistiveDrivingSystem:
 
     self.enabled = False
     self.active = False
+    self.enabled_prev = False
+    self.active_prev = False
     self.available = False
     self.allow_always = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
+    self.selfdrive.active_prev = False
     self.state_machine = StateMachine(self)
 
     if self.selfdrive.CP.carName == "hyundai":
@@ -102,5 +105,10 @@ class ModularAssistiveDrivingSystem:
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update(self.selfdrive.events)
 
-    # Copy of previous SelfdriveD states for MADS events handling
+    # update MADS status events
-    self.selfdrive.enabled_prev = self.selfdrive.enabled
+    if self.selfdrive.active != self.selfdrive.active_prev or self.active != self.active_prev:
+      self.selfdrive.events.add(EventName.madsStatusChanged)
+
+    # Copy of previous SelfdriveD and MADS states for MADS events handling
+    self.selfdrive.enabled_prev, self.selfdrive.active_prev = self.selfdrive.enabled, self.selfdrive.active
+    self.enabled_prev, self.active_prev = self.enabled, self.active