in lists

selfdrive/selfdrived/events.py

@@ -108,6 +108,9 @@ class Events:
   def has(self, event_name: int) -> bool:
     return event_name in self.events
 
+  def has_list(self, events_list: list[int]) -> bool:
+    return all(event_name in self.events for event_name in events_list)
+
   def remove(self, event_name: int, static: bool = False) -> None:
     if static and event_name in self.static_events:
       self.static_events.remove(event_name)

sunnypilot/mads/mads.py

@@ -4,7 +4,7 @@ from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 from openpilot.sunnypilot.mads.helpers import MadsParams
-from openpilot.sunnypilot.mads.state import StateMachine
+from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.SelfdriveStateSP.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 ButtonType = car.CarState.ButtonEvent.Type
@@ -58,9 +58,7 @@ class ModularAssistiveDrivingSystem:
         self.selfdrive.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
         transition_paused_state()
 
-      if not self.selfdrive.events.has(EventName.silentWrongGear) and \
-         not self.selfdrive.events.has(EventName.silentReverseGear) and \
-         not self.selfdrive.events.has(EventName.silentBrakeHold):
+      if self.selfdrive.events.has_list(GEARS_ALLOW_PAUSED_SILENT):
         update_silent_lkas_enable()
 
     if self.disengage_lateral_on_brake_toggle:

sunnypilot/mads/state.py

@@ -9,6 +9,10 @@ EventName = log.OnroadEvent.EventName
 ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
+GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold]
+GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold, *GEARS_ALLOW_PAUSED_SILENT]
+ALLOW_PAUSED = [EventName.silentPedalPressed, *GEARS_ALLOW_PAUSED]
+
 
 class StateMachine:
   def __init__(self, mads):
@@ -96,7 +100,8 @@ class StateMachine:
     elif self.state == State.disabled:
       if events.contains(ET.ENABLE):
         if events.contains(ET.NO_ENTRY):
-          self.state = State.paused
+          if events.has_list(ALLOW_PAUSED):
+            self.state = State.paused
           self.add_current_alert_types(ET.NO_ENTRY)
 
         else: