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This commit is contained in:
Jason Wen
2024-11-16 01:35:04 -05:00
parent cdcd25f284
commit f446129afa
3 changed files with 12 additions and 14 deletions
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selfdrive/car/card.py
+1 -1
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@@ -118,7 +118,7 @@ class Car:
# mads
data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
MadsParams().set_alternative_experience(self.CP, self.params)
MadsParams().set_alternative_experience(self.CP)
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
sunnypilot/mads/helpers.py
+7 -8
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@@ -4,16 +4,15 @@ from openpilot.common.params import Params
class MadsParams:
@staticmethod
def read_param(key: str, params=None):
if params is None:
params = Params()
def __init__(self):
self.params = Params()
return params.get_bool(key)
def read_param(self, key: str):
return self.params.get_bool(key)
def set_alternative_experience(self, CP, params):
enabled = self.read_param("Mads", params)
disengage_lateral_on_brake = self.read_param("MadsDisengageLateralOnBrake", params)
def set_alternative_experience(self, CP):
enabled = self.read_param("Mads")
disengage_lateral_on_brake = self.read_param("MadsDisengageLateralOnBrake")
if enabled:
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
sunnypilot/mads/mads.py
+4 -5
View File
@@ -23,11 +23,10 @@ class ModularAssistiveDrivingSystem:
if self.selfdrive.CP.carName == "hyundai":
self.allow_always = True
# TODO-SP: do we need to pass the params object from SelfdriveD?
self.enabled_toggle = mads_params.read_param("Mads", self.selfdrive.params)
self.main_enabled_toggle = mads_params.read_param("MadsCruiseMain", self.selfdrive.params)
self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake", self.selfdrive.params)
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
self.enabled_toggle = mads_params.read_param("Mads")
self.main_enabled_toggle = mads_params.read_param("MadsCruiseMain")
self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake")
self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode")
def update_events(self, CS: car.CarState):
def update_unified_engagement_mode():