Modular Assistive Driving System (MADS) #40
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# Conflicts: # board/safety.h # board/safety/safety_hyundai.h # board/safety_declarations.h
This was referenced Nov 15, 2024
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#46) Refactor MADS safety with improved state management This commit introduces a major refactoring of the MADS safety module, improving state management and control flow. Key changes include: Core Changes: - Introduced a MADSState struct to centralize state management - Removed global state variables in favor of structured state - Implemented button transition handling with explicit state tracking (PRESSED/RELEASED/NO_CHANGE) - Added state flags for button availability detection - Simplified lateral control permission logic Button Handling: - Separated main button and LKAS button state tracking - Added independent engagement states for each button - Improved button press detection across multiple platforms - Added support for main and LKAS buttons on Hyundai platforms - Modified ACC main state handling Testing: - Added comprehensive test coverage for MADS state transitions - Added new MADS-specific test base class for consistent testing across platforms - Added mutation testing for state management - Extended timeout for mutation tests from 5 to 8 minutes - Added extensive button press validation tests - Enhanced debugging output in replay drive tests The refactored code provides a more organized implementation of MADS safety features while maintaining compatibility with existing safety checks.
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Refactor MADS safety with improved state management
Core Changes:
Button Handling:
Testing:
The refactored code provides a more organized implementation of MADS safety features while maintaining compatibility with existing safety checks.
Relates to: