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Revert "allow no entry to paused for non-drive gears"

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This reverts commit 6d64a4dd9c.
This commit is contained in:
Jason Wen
2024-11-26 12:01:40 -05:00
parent b72d3308ec
commit ec7bd2afd9
1 changed files with 20 additions and 21 deletions
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sunnypilot/mads/mads.py
+20 -21
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@@ -44,29 +44,28 @@ class ModularAssistiveDrivingSystem:
if self.state_machine.state != State.paused:
self.events.add(EventName.silentLkasDisable)
if not self.selfdrive.enabled:
if self.enabled:
if self.disengage_lateral_on_brake_toggle:
if self.events.has(EventName.pedalPressed):
transition_paused_state()
else:
if self.events.has(EventName.wrongGear):
self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
transition_paused_state()
if self.events.has(EventName.reverseGear):
self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
transition_paused_state()
if self.events.has(EventName.brakeHold):
self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
transition_paused_state()
if self.events.has(EventName.doorOpen):
self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
transition_paused_state()
if self.events.has(EventName.seatbeltNotLatched):
self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
if not self.selfdrive.enabled and self.enabled:
if self.events.has(EventName.wrongGear):
self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
transition_paused_state()
if self.events.has(EventName.reverseGear):
self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
transition_paused_state()
if self.events.has(EventName.brakeHold):
self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
transition_paused_state()
if self.events.has(EventName.doorOpen):
self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
transition_paused_state()
if self.events.has(EventName.seatbeltNotLatched):
self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
transition_paused_state()
if self.disengage_lateral_on_brake_toggle:
if self.events.has(EventName.pedalPressed):
transition_paused_state()
if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed) and self.enabled) and \
if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed)) and \
not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT):
if self.state_machine.state == State.paused:
self.events.add(EventName.silentLkasEnable)