github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
46 lines
1.6 KiB
Python
46 lines
1.6 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.cereal import custom
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from opendbc.car.structs import car
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from openpilot.common.constants import CV
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from openpilot.common.params import Params
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
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def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
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speed_conv = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
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v_cruise_cluster_conv = round(v_cruise_cluster * speed_conv)
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target_set_speed_conv = round(target_set_speed * speed_conv)
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req_plus = v_cruise_cluster_conv < target_set_speed_conv
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req_minus = v_cruise_cluster_conv > target_set_speed_conv
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return req_plus, req_minus
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def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params | None = None) -> bool:
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if params is None:
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params = Params()
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is_release = params.get_bool("IsReleaseSpBranch")
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disallow_in_release = CP.brand == "tesla" and is_release
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always_disallow = CP.brand == "rivian"
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allowed = True
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if disallow_in_release or always_disallow:
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allowed = False
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if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
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allowed = False
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if not allowed:
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if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
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params.put("SpeedLimitMode", int(SpeedLimitMode.warning), block=True)
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return allowed
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