some more infra

selfdrive/controls/controlsd.py

@@ -56,6 +56,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -89,6 +92,7 @@ class Controls:
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+    CC.latActive = CC.latActive or self.sm['selfdriveStateSP'].mads.enabled
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/selfdrived/selfdrived.py

@@ -128,7 +128,7 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    sock_services = [self.pm.sock.keys()] + ['selfdriveStateSP']
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
     self.pm = messaging.PubMaster(sock_services)
 
     self.mads = ModifiedAssistDrivingSystem(self)