From bcff9ca4ce19697d361cd0407fff9c89e6083d0f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 26 Nov 2024 13:57:42 -0500
Subject: [PATCH] silent park brake

---
 cereal/log.capnp               | 1 +
 selfdrive/selfdrived/events.py | 9 +++++++++
 sunnypilot/mads/mads.py        | 3 +++
 sunnypilot/mads/state.py       | 5 +++--
 4 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 61db521c90..69267b90a2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -197,6 +197,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentReverseGear @160;
     silentDoorOpen @161;
     silentSeatbeltNotLatched @162;
+    silentParkBrake @163;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 7c0b6bca96..fe27d1af24 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1054,6 +1054,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
   },
 
+  EventName.silentParkBrake: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+  },
+
 }
 
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 4f9c706624..8a62d8b3b4 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -60,6 +60,9 @@ class ModularAssistiveDrivingSystem:
       if self.events.has(EventName.seatbeltNotLatched):
         self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
         transition_paused_state()
+      if self.events.has(EventName.parkBrake):
+        self.events.replace(EventName.parkBrake, EventName.silentParkBrake)
+        transition_paused_state()
 
       if self.disengage_lateral_on_brake_toggle:
         if self.events.has(EventName.pedalPressed):
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index a64977717a..dfb3ce7713 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -10,9 +10,10 @@ ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.paused, *ACTIVE_STATES)
 
 GEARS_ALLOW_PAUSED_SILENT = [EventName.silentWrongGear, EventName.silentReverseGear, EventName.silentBrakeHold,
-                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched]
+                             EventName.silentDoorOpen, EventName.silentSeatbeltNotLatched, EventName.parkBrake]
 GEARS_ALLOW_PAUSED = [EventName.wrongGear, EventName.reverseGear, EventName.brakeHold,
-                      EventName.doorOpen, EventName.seatbeltNotLatched, *GEARS_ALLOW_PAUSED_SILENT]
+                      EventName.doorOpen, EventName.seatbeltNotLatched, EventName.silentParkBrake,
+                      *GEARS_ALLOW_PAUSED_SILENT]
 
 
 class StateMachine: