move to mads

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -575,7 +575,7 @@ class SelfdriveD(CruiseHelper):
     clear_event_types = set()
     if ET.WARNING not in self.state_machine.current_alert_types:
       clear_event_types.add(ET.WARNING)
-    if self.enabled or (ET.NO_ENTRY not in (c := self.state_machine.current_alert_types) and (ET.ENABLE in c or ET.USER_DISABLE in c)):
+    if self.enabled or self.mads.clear_no_entry:
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]

openpilot/sunnypilot/mads/mads.py

@@ -10,6 +10,7 @@ from openpilot.cereal import log, custom
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
@@ -33,6 +34,7 @@ class ModularAssistiveDrivingSystem:
     self.enabled = False
     self.active = False
     self.available = False
+    self.clear_no_entry = False
     self.lateral_mismatch_counter = 0
     self.allow_always = False
     self.no_main_cruise = False
@@ -218,5 +220,8 @@ class ModularAssistiveDrivingSystem:
     if not self.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update()
 
+    cat = self.selfdrive.state_machine.current_alert_types
+    self.clear_no_entry = (ET.ENABLE in cat or ET.USER_DISABLE in cat) and ET.NO_ENTRY not in cat
+
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled