MADS: allow transition from Paused to Enabled at all times (#910)

* MADS: silentBrakeHold should not exit control

* no longer

* allow transition from paused to enabled when long is allowed

sunnypilot/mads/mads.py

@@ -89,11 +89,6 @@ class ModularAssistiveDrivingSystem:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
-        if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
-
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
       self.events.remove(EventName.speedTooLow)
@@ -125,6 +120,11 @@ class ModularAssistiveDrivingSystem:
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
+       not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      if self.state_machine.state == State.paused:
+        self.events_sp.add(EventNameSP.silentLkasEnable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)

sunnypilot/mads/state.py

@@ -51,7 +51,7 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if self.check_contains(ET.USER_DISABLE):
-        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable):
           self.state = State.paused
         else:
           self.state = State.disabled

sunnypilot/mads/tests/test_mads_state_machine.py

@@ -73,7 +73,7 @@ class TestMADSStateMachine:
         self.clear_events()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, )
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.USER_DISABLE]))

sunnypilot/selfdrive/selfdrived/events.py

@@ -64,7 +64,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventNameSP.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.WARNING: EngagementAlert(AudibleAlert.none),
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },