clear no entry alerts if engaged (#23559)

* clear no entry alerts if engaged

* fix test

selfdrive/controls/controlsd.py

@@ -611,10 +611,15 @@ class Controls:
     if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
       self.events.add(EventName.ldw)
 
-    clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
+    clear_event_types = set()
+    if ET.WARNING not in self.current_alert_types:
+      clear_event_types.add(ET.WARNING)
+    if self.enabled:
+      clear_event_types.add(ET.NO_ENTRY)
+
     alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
     self.AM.add_many(self.sm.frame, alerts)
-    current_alert = self.AM.process_alerts(self.sm.frame, clear_event)
+    current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
     if current_alert:
       hudControl.visualAlert = current_alert.visual_alert
 

selfdrive/controls/lib/alertmanager.py

@@ -47,13 +47,13 @@ class AlertManager:
       min_end_frame = entry.start_frame + alert.duration
       entry.end_frame = max(frame + 1, min_end_frame)
 
-  def process_alerts(self, frame: int, clear_event_type=None) -> Optional[Alert]:
+  def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
     current_alert = AlertEntry()
     for v in self.alerts.values():
       if not v.alert:
         continue
 
-      if clear_event_type and v.alert.event_type == clear_event_type:
+      if v.alert.event_type in clear_event_types:
         v.end_frame = -1
 
       # sort by priority first and then by start_frame

selfdrive/controls/lib/tests/test_alertmanager.py

@@ -34,7 +34,7 @@ class TestAlertManager(unittest.TestCase):
         for frame in range(duration+10):
           if frame < add_duration:
             AM.add_many(frame, [alert, ])
-          current_alert = AM.process_alerts(frame)
+          current_alert = AM.process_alerts(frame, {})
 
           shown = current_alert is not None
           should_show = frame <= show_duration