no unittest oops

common/params_keys.h

@@ -54,7 +54,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
-    {"HideCamera", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -213,8 +213,6 @@ class AugmentedRoadView(CameraView):
 
     # Render the base camera view
     super()._render(self._content_rect)
-    if ui_state.hide_camera:
-      rl.draw_rectangle_rec(self._content_rect, rl.BLACK)
 
     # Draw all UI overlays
     self._model_renderer.render(self._content_rect)

selfdrive/ui/onroad/augmented_road_view.py

@@ -86,8 +86,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
 
     # Render the base camera view
     super()._render(rect)
-    if ui_state.hide_camera:
-      rl.draw_rectangle_rec(self._content_rect, rl.BLACK)
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)

selfdrive/ui/sunnypilot/layouts/settings/visuals.py

@@ -93,11 +93,6 @@ class VisualsLayout(Widget):
            "This displays what the car is currently doing, not what the planner is requesting."),
         None,
       ),
-      "HideCamera": (
-        lambda: tr("Hide Camera"),
-        tr("Hide the camera live view from the driving screen."),
-        None,
-      ),
     }
     self._toggles = {}
     for param, (title, desc, callback) in self._toggle_defs.items():

selfdrive/ui/sunnypilot/ui_state.py

@@ -150,7 +150,6 @@ class UIStateSP:
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.developer_ui = self.params.get("DevUIInfo")
-    self.hide_camera = self.params.get_bool("HideCamera")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)

sunnypilot/mads/mads.py

@@ -69,7 +69,7 @@ class ModularAssistiveDrivingSystem:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)):
       return False
 
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):

sunnypilot/mads/tests/test_mads_steering_mode.py

@@ -0,0 +1,242 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pytest
+
+from cereal import log, custom
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+SafetyModel = structs.CarParams.SafetyModel
+
+
+def make_car_state(brake_pressed=False, regen_braking=False, standstill=False, v_ego=0.0):
+  cs = structs.CarState()
+  cs.brakePressed = brake_pressed
+  cs.regenBraking = regen_braking
+  cs.standstill = standstill
+  cs.vEgo = v_ego
+  cs.cruiseState.available = True
+  return cs
+
+
+def make_panda_state(mocker, controls_allowed_lateral=True):
+  ps = mocker.MagicMock()
+  ps.controlsAllowedLateral = controls_allowed_lateral
+  ps.safetyModel = SafetyModel.hyundai
+  return ps
+
+
+def make_mads(mocker, steering_mode):
+  sd = mocker.MagicMock()
+  sd.CP = structs.CarParams()
+  sd.CP.brand = "hyundai"
+  sd.CP_SP = structs.CarParamsSP()
+  sd.params = mocker.MagicMock()
+  sd.params.get_bool = mocker.MagicMock(side_effect=lambda k: {
+    "Mads": True, "MadsMainCruiseAllowed": False,
+    "DisengageOnAccelerator": True, "MadsUnifiedEngagementMode": False,
+  }.get(k, False))
+  sd.params.get = mocker.MagicMock(return_value=steering_mode)
+  sd.events = Events()
+  sd.events_sp = EventsSP()
+  sd.enabled = False
+  sd.enabled_prev = False
+  sd.initialized = True
+  sd.CS_prev = make_car_state()
+  sd.sm = {'pandaStates': [make_panda_state(mocker)]}
+  sd.state_machine = mocker.MagicMock()
+
+  mads = ModularAssistiveDrivingSystem(sd)
+  mads.enabled_toggle = True
+  mads.steering_mode_on_brake = steering_mode
+  return mads, sd
+
+
+def run_frames(mads, sd, cs, n=1):
+  for _ in range(n):
+    mads.update(cs)
+    sd.CS_prev = cs
+    sd.events.clear()
+    sd.events_sp.clear()
+
+
+# should_silent_lkas_enable across all modes
+
+class TestShouldSilentLkasEnable:
+  @pytest.mark.parametrize("brake,regen", [(True, False), (False, True)])
+  def test_pause_blocks_reenable_on_braking_at_standstill(self, mocker, brake, regen):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(brake_pressed=brake, regen_braking=regen, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is False
+
+  def test_pause_allows_reenable_on_brake_release(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_remain_active_ignores_brake(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_disengage_ignores_brake_for_silent_enable(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+
+# pause
+
+class TestPauseMode:
+  def test_stays_paused_at_standstill_brake_held(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+  def test_resumes_on_brake_release_at_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+  def test_full_cycle_moving_to_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, True)]
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+
+# disengage
+
+class TestDisengageMode:
+  def test_brake_while_enabled_disables(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.disabled
+
+  def test_brake_sends_lkas_disable_when_enabled(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    mads.update_events(make_car_state(brake_pressed=True, v_ego=5.0))
+    assert sd.events_sp.has(EventNameSP.lkasDisable)
+
+
+# remain active
+
+class TestRemainActiveMode:
+  def test_brake_does_not_pause_or_disable(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.enabled
+
+
+# lateral mismatch counter
+
+class TestLateralMismatchCounter:
+  def test_no_accumulation_while_paused(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.lateral_mismatch_counter == 0
+
+  def test_accumulates_when_active_and_panda_disagrees(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.enabled = True
+    mads.active = True
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    for _ in range(200):
+      mads.data_sample()
+    assert mads.lateral_mismatch_counter == 200
+
+
+# brand restrictions
+
+class TestBrandSteeringModeRestrictions:
+  def test_rivian_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "rivian"
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+    params.get.assert_not_called()
+
+  def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = 0
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
+  def test_other_brands_use_param(self, mocker, brand):
+    CP = structs.CarParams()
+    CP.brand = brand
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE

sunnypilot/sunnylink/settings_ui.json

@@ -1296,12 +1296,6 @@
               "title": "Display Turn Signals",
               "description": "When enabled, visual turn indicators are drawn on the HUD."
             },
-            {
-              "key": "HideCamera",
-              "widget": "toggle",
-              "title": "Hide Camera",
-              "description": "Hide the camera live view from the driving screen."
-            },
             {
               "key": "RoadNameToggle",
               "widget": "toggle",

sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -24,10 +24,6 @@ sections:
     widget: toggle
     title: Display Turn Signals
     description: When enabled, visual turn indicators are drawn on the HUD.
-  - key: HideCamera
-    widget: toggle
-    title: Hide Camera
-    description: Hide the camera live view from the driving screen.
   - key: RoadNameToggle
     widget: toggle
     title: Display Road Name