silent lkas disable

cereal/log.capnp

@@ -191,9 +191,10 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     manualLongitudinalRequired @154;
     silentPedalPressed @155;
     silentLkasEnable @156;
-    silentBrakeHold @157;
-    silentWrongGear @158;
-    silentReverseGear @159;
+    silentLkasDisable @157;
+    silentBrakeHold @158;
+    silentWrongGear @159;
+    silentReverseGear @160;
 
     soundsUnavailableDEPRECATED @47;
   }

selfdrive/selfdrived/events.py

@@ -992,11 +992,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.silentPedalPressed: {
-    ET.USER_DISABLE: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
     ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
                               visual_alert=VisualAlert.brakePressed),
   },
@@ -1009,17 +1004,20 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
   },
 
-  EventName.silentBrakeHold: {
+  EventName.silentLkasDisable: {
     ET.USER_DISABLE: Alert(
       "",
       "",
       AlertStatus.normal, AlertSize.none,
       Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
+  },
+
+  EventName.silentBrakeHold: {
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
   EventName.silentWrongGear: {
-    ET.USER_DISABLE: Alert(
+    ET.PERMANENT: Alert(
       "Gear not D",
       "openpilot Unavailable",
       AlertStatus.normal, AlertSize.mid,
@@ -1037,11 +1035,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: Alert(
-      "Reverse\nGear",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.),
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 

sunnypilot/mads/mads.py

@@ -43,11 +43,17 @@ class ModularAssistiveDrivingSystem:
       if self.state_machine.state == State.paused and self.enabled:
         self.selfdrive.events.add(EventName.silentLkasEnable)
 
+    def transition_paused_state():
+      if self.state_machine.state != State.paused:
+        self.selfdrive.events.add(EventName.silentLkasDisable)
+
     if not self.selfdrive.enabled:
       if self.selfdrive.events.has(EventName.wrongGear) and not self.selfdrive.events.has(EventName.reverseGear):
         self.selfdrive.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        transition_paused_state()
       if self.selfdrive.events.has(EventName.reverseGear) and CS.vEgo < 5:
         self.selfdrive.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        transition_paused_state()
 
       if not self.selfdrive.events.has(EventName.silentWrongGear) and not self.selfdrive.events.has(EventName.silentReverseGear):
         update_silent_lkas_enable()
@@ -55,9 +61,11 @@ class ModularAssistiveDrivingSystem:
     if self.disengage_lateral_on_brake_toggle:
       if self.selfdrive.events.has(EventName.brakeHold):
         self.selfdrive.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        transition_paused_state()
 
       if self.selfdrive.events.has(EventName.pedalPressed):
         self.selfdrive.events.add(EventName.silentPedalPressed)
+        transition_paused_state()
 
       if not CS.brakePressed and not CS.brakeHoldActive and not CS.parkingBrake and not CS.regenBraking:
         update_silent_lkas_enable()

sunnypilot/mads/state.py

@@ -31,8 +31,7 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentPedalPressed) or events.has(EventName.silentBrakeHold) or \
-           events.has(EventName.silentWrongGear) or events.has(EventName.silentReverseGear):
+        if events.has(EventName.silentLkasDisable):
           self.state = State.paused
         else:
           self.state = State.disabled