MADS: Steering Mode on Brake Pedal Press

[sunnyhaibin]

Summary by Sourcery

Adds a new parameter to set_mads_params to control whether lateral control is paused when the brake pedal is pressed.

Enhancements:

• Adds a new parameter to set_mads_params to control whether lateral control is paused when the brake pedal is pressed.
• Renames disengage_lateral_on_brake to pause_lateral_on_brake to better reflect the functionality.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces a new feature that allows lateral control to be paused, rather than fully disengaged, when the brake pedal is pressed. This is implemented by adding a new pause_lateral_on_brake parameter to the MADS system state and updating the control logic to handle this new state. Additionally, the pull request includes new tests to verify the correct behavior of the pause on brake functionality.

Sequence diagram for lateral control with pause on brake

sequenceDiagram
  participant Driver
  participant MADS

  Driver->>MADS: Engages brake pedal
  activate MADS
  MADS->>MADS: Checks pause_lateral_on_brake
  alt pause_lateral_on_brake is true
    MADS->>MADS: Pauses lateral control
  else pause_lateral_on_brake is false
    MADS->>MADS: Disengages lateral control
  end
  deactivate MADS

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Sequence diagram for lateral control re-engaging after brake release with pause on brake

sequenceDiagram
  participant Driver
  participant MADS

  Driver->>MADS: Releases brake pedal
  activate MADS
  MADS->>MADS: Checks pause_lateral_on_brake
  alt pause_lateral_on_brake is true and brake was the only disengage reason
    MADS->>MADS: Requests lateral control
  else
    MADS->>MADS: Does not request lateral control
  end
  deactivate MADS

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Updated class diagram for MADSState

classDiagram
  class MADSState {
    bool system_enabled
    bool disengage_lateral_on_brake
    bool pause_lateral_on_brake
    bool controls_requested_lat
    bool controls_allowed_lat
  }
  note for MADSState "Added pause_lateral_on_brake field"

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File-Level Changes

Change	Details	Files
Added a new parameter to mads_set_system_state and set_mads_params to control whether lateral control is paused on brake pedal press, instead of fully disengaging.	Added pause_lateral_on_brake to MADSState struct. Updated m_update_control_state to handle the new pause_lateral_on_brake parameter. Updated mads_set_alternative_experience and mads_set_system_state to accept the new parameter. Updated set_mads_params to include the new parameter. Added new tests for the pause on brake functionality. Renamed tests to reflect the pause functionality instead of disengage.	opendbc/safety/tests/mads_common.py opendbc/safety/sunnypilot/safety_mads.h opendbc/safety/tests/libsafety/safety_helpers.h opendbc/safety/tests/hyundai_common.py opendbc/safety/tests/libsafety/safety_helpers.py opendbc/safety/sunnypilot/safety_mads_declarations.h opendbc/safety/__init__.py opendbc/safety/tests/safety_replay/replay_drive.py opendbc/safety/tests/test_ford.py opendbc/safety/tests/test_honda.py opendbc/safety/tests/test_hyundai.py opendbc/safety/tests/test_subaru.py

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