test7 -the quiche is almost ready

selfdrive/controls/tests/test_starpilot_vcruise.py

@@ -5,7 +5,7 @@ import pytest
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.starpilot.common.starpilot_variables import PLANNER_TIME
-from openpilot.starpilot.controls.lib.curve_speed_controller import CSC_GLOW_HOLD_TIME
+from openpilot.starpilot.controls.lib.curve_speed_controller import CSC_GLOW_HOLD_TIME, CSC_GLOW_ON_DELTA
 from openpilot.starpilot.controls.lib.starpilot_vcruise import (
   FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME,
   StarPilotVCruise,
@@ -367,6 +367,24 @@ def test_csc_res_press_defers_to_slc_confirmation():
   assert vcruise.csc_controlling_speed
 
 
+def test_curve_speed_controller_glow_ignores_a_trivial_graze():
+  planner, vcruise = make_vcruise()
+  sm = make_sm(standstill=False)
+  toggles = make_toggles()
+  toggles.curve_speed_controller = True
+
+  # a long gentle bend where the envelope only shaves a little: the target hovers either
+  # side of the threshold for the whole curve, so a low bar strobes the glow
+  def set_curve_target(_v_ego, _v_cruise):
+    vcruise.csc.target = 20.0 - (CSC_GLOW_ON_DELTA / 2.0)
+
+  vcruise.csc.update_target = set_curve_target
+  result = update_vcruise(vcruise, sm, toggles, now=160.0, v_ego=20.0)
+
+  assert result < 20.0                      # the cap is still applied
+  assert not vcruise.csc_controlling_speed  # it just isn't worth announcing
+
+
 def test_curve_speed_controller_glow_holds_through_a_brief_release():
   planner, vcruise = make_vcruise()
   sm = make_sm(standstill=False)

selfdrive/ui/onroad/starpilot/starpilot_border.py

@@ -57,7 +57,10 @@ def _csc_state():
 
   plan = sm["starpilotPlan"]
   params = ui_state.ui_params
-  if plan.speedLimitChanged or not params.get_bool("ShowCSCStatus"):
+  # A pending speed limit flashes the speed limit sign, not the border, so it has no
+  # reason to blank this. Suppressing it hid real curve slowdowns for the whole
+  # confirmation window, which can run the full 30 s before the prompt times out.
+  if not params.get_bool("ShowCSCStatus"):
     return None
 
   car_state = sm["carState"]

starpilot/controls/lib/curve_speed_controller.py

@@ -27,6 +27,10 @@ CSC_EGO_HEADROOM = 2.0            # target never trails below v_ego, so CSC can'
 CSC_RELEASE_DEBOUNCE = 0.25       # s the envelope must stay clear before that floor applies
 CSC_ACTIVE_ON_DELTA = 0.5
 CSC_ACTIVE_OFF_DELTA = 0.25
+CSC_GLOW_ON_DELTA = 1.0           # ~2.2 mph. Separate from CSC_ACTIVE_ON_DELTA, which arms the
+                                  # training quiet timer and must stay sensitive. A graze this
+                                  # small isn't worth showing, and on a long gentle curve the
+                                  # target hovers across a lower threshold for the whole bend.
 CSC_GLOW_HOLD_TIME = 3.0          # s the cap must stay released before the glow clears; the
                                   # on/off band is only ~0.5 mph wide, so a target hovering
                                   # near the set speed crosses it repeatedly on one curve

starpilot/controls/lib/starpilot_vcruise.py

@@ -8,8 +8,8 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
 from openpilot.starpilot.controls.lib.curve_speed_controller import (
   CSC_ACTIVE_OFF_DELTA,
-  CSC_ACTIVE_ON_DELTA,
   CSC_GLOW_HOLD_TIME,
+  CSC_GLOW_ON_DELTA,
   CurveSpeedController,
   is_manual_speed_control,
 )
@@ -581,7 +581,7 @@ class StarPilotVCruise:
         # reached it, whether by being slowed down to it or by accelerating up into it. The
         # second reading of CSC_ACTIVE_OFF_DELTA is that margin. Release still waits for the
         # set speed, so the glow spans the hold and the whole recovery, not just the braking.
-        if self.csc_target < v_cruise - CSC_ACTIVE_ON_DELTA and v_ego >= self.csc_target - CSC_ACTIVE_OFF_DELTA:
+        if self.csc_target < v_cruise - CSC_GLOW_ON_DELTA and v_ego >= self.csc_target - CSC_ACTIVE_OFF_DELTA:
           self.csc_controlling_speed = True
           self.csc_glow_release_timer = 0.0
         elif self.csc_target > v_cruise - CSC_ACTIVE_OFF_DELTA: