From ec7bd2afd931dfbee9876602e4d886e87695722e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 26 Nov 2024 12:01:40 -0500 Subject: [PATCH] Revert "allow no entry to paused for non-drive gears" This reverts commit 6d64a4dd9c6de5ad14ef1e88dbc3b6ad174232d8. --- sunnypilot/mads/mads.py | 41 ++++++++++++++++++++--------------------- 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 6e8e0c7513..672b4c1a77 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -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)