reboot

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -576,7 +576,7 @@ 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 self.mads.clear_no_entry:
+    if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]

openpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -62,7 +62,25 @@ class MiciFccModal(NavRawScrollPanel):
     rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
 
 
-def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
+class DisengageDialog(BigDialog):
+  def __init__(self, title: str, description: str, disengaged_callback: Callable[[], None]):
+    super().__init__(title, description)
+    self._disengaged_callback = disengaged_callback
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.engaged and not self.is_dismissing:
+      self.dismiss(self._disengaged_callback)
+
+
+class EngagedConfirmationDialog(BigConfirmationDialog):
+  def _update_state(self):
+    super()._update_state()
+    if ui_state.engaged and not self.is_dismissing:
+      self.dismiss()
+
+
+def engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
   if not ui_state.engaged:
     def confirm_callback():
       # Check engaged again in case it changed while the dialog was open
@@ -70,23 +88,26 @@ def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.T
       if not ui_state.engaged:
         callback()
 
-    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
+    gui_app.push_widget(EngagedConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback,
+                                                  exit_on_confirm=exit_on_confirm, red=red))
   else:
-    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+    gui_app.push_widget(DisengageDialog("", f"Disengage to {action_text}",
+                                           lambda: engaged_confirmation_click(callback, action_text, icon,
+                                                                               exit_on_confirm=exit_on_confirm, red=red)))
 
 
 class EngagedConfirmationCircleButton(BigCircleButton):
   def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
                red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
     super().__init__(icon, red, icon_offset)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class EngagedConfirmationButton(BigButton):
   def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
                exit_on_confirm: bool = True, red: bool = False):
     super().__init__(text, "", icon)
-    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
+    self.set_click_callback(lambda: engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
 class DeviceInfoLayoutMici(Widget):

openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -6,9 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, engaged_confirmation_click
 from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -93,10 +93,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
       dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
                                   confirm_callback=lambda: _set_offroad_status(False))
     else:
-      if ui_state.engaged:
-        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
-        return
-
-      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
-                                  confirm_callback=lambda: _set_offroad_status(True))
+      engaged_confirmation_click(lambda: _set_offroad_status(True), "force offroad", self.icon_offroad_slider, red=True)
+      return
     gui_app.push_widget(dlg)

openpilot/sunnypilot/mads/mads.py

@@ -10,7 +10,6 @@ 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
 
@@ -34,7 +33,6 @@ 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
@@ -220,8 +218,5 @@ 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