From 0aa6953066dd80c78c4f541b8d9c110779fa448e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 1 Jun 2025 23:52:24 -0400 Subject: [PATCH] fix --- .../speed_limit_controller.py | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py index a53fe3a288..f5a5d96fb9 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py @@ -28,7 +28,7 @@ class SpeedLimitController: self._last_params_update = 0.0 self._last_op_enabled_time = 0.0 self._is_metric = self._params.get_bool("IsMetric") - self._is_enabled = self._params.get_bool("EnableSlc") + self._is_enabled = self._params.get_bool("SpeedLimitControl") self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator") self._op_enabled = False self._op_enabled_prev = False @@ -50,7 +50,7 @@ class SpeedLimitController: self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) - self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) self._engage_type = np.clip(int(self._params.get("SpeedLimitEngageType", encoding='utf8')), Engage.auto, Engage.user_confirm) @@ -149,10 +149,10 @@ class SpeedLimitController: def _update_params(self): if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD: - self._is_enabled = self._params.get_bool("EnableSlc") + self._is_enabled = self._params.get_bool("SpeedLimitControl") self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) - self._warning_type_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) + self._warning_type = int(self._params.get("SpeedLimitWarningType", encoding='utf8')) self._warning_offset_type = int(self._params.get("SpeedLimitWarningOffsetType", encoding='utf8')) self._warning_offset_value = float(self._params.get("SpeedLimitWarningValueOffset", encoding='utf8')) self._policy = Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8'))) @@ -285,31 +285,31 @@ class SpeedLimitController: """ In active state, aim to keep speed constant around control time horizon """ return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] - def _update_events(self, events): - if self._speed_limit > 0 and self._warning_type_type == 2 and \ + def _update_events(self, events_sp): + if self._speed_limit > 0 and self._warning_type == 2 and \ self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): - events.add(EventNameSP.speedLimitPreActive) + events_sp.add(EventNameSP.speedLimitPreActive) if not self.is_active: if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \ self._v_cruise_rounded != self._speed_limit_offsetted_rounded: - events.add(EventNameSP.speedLimitPreActive) + events_sp.add(EventNameSP.speedLimitPreActive) else: if self._engage_type == Engage.user_confirm: if self._state_prev == SpeedLimitControlState.preActive: - events.add(EventNameSP.speedLimitConfirmed) - events.add(EventNameSP.speedLimitActive) + events_sp.add(EventNameSP.speedLimitConfirmed) + events_sp.add(EventNameSP.speedLimitActive) elif self._engage_type == Engage.auto: if self._state_prev not in ACTIVE_STATES: - events.add(EventNameSP.speedLimitActive) + events_sp.add(EventNameSP.speedLimitActive) elif self._speed_limit_changed != 0: - events.add(EventNameSP.speedLimitValueChange) + events_sp.add(EventNameSP.speedLimitValueChange) - def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events): + def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events_sp): _car_state = sm['carState'] - self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \ + self._op_enabled = enabled and \ not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \ - not (events.contains(ET.OVERRIDE_LONGITUDINAL) and self._disengage_on_accelerator) + not (_car_state.gasPressed and self._disengage_on_accelerator) self._v_ego = v_ego self._a_ego = a_ego self._v_cruise_setpoint = v_cruise_setpoint @@ -322,4 +322,4 @@ class SpeedLimitController: self._update_params() self._update_calculations() self._state_transition() - self._update_events(events) + self._update_events(events_sp)