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firestar5683
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
"""The first below-minimum-steering-speed episode in an onroad session."""
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import math
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def advisory_eligible(CP, CS, *, active: bool, intent) -> bool:
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armed = intent is not None and intent.allowedLatch and intent.lateralArmed and not intent.pauseLateral
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return bool((active or armed) and (CP.brand != 'gm' or CS.cruiseState.available))
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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, eligible: bool = True) -> 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 eligible:
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self.showing = False
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return 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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