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firestar5683
79c8945a41
Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
30 lines
902 B
Python
30 lines
902 B
Python
"""The first below-minimum-steering-speed episode in an onroad session."""
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import math
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class LowSpeedAdvisory:
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def __init__(self):
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self.drive_id = 0
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self.has_been_above = False
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self.shown = False
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self.showing = False
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def update(self, speed: float, minimum: float, *, drive_id: int = 0) -> bool:
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# Unknown/transient device state does not restart the advisory lifecycle.
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if drive_id > 0 and drive_id != self.drive_id:
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self.drive_id = drive_id
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self.has_been_above = False
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self.shown = False
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self.showing = False
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if not math.isfinite(speed) or not math.isfinite(minimum) or minimum <= 0:
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return False
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under = speed < minimum
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if not under:
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self.has_been_above = True
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self.showing = False
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elif self.has_been_above and not self.shown:
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self.shown = True
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self.showing = True
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return self.showing and under
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