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track session

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This commit is contained in:
Jason Wen
2025-08-31 00:32:11 -04:00
parent e454ca42c9
commit 0ff8e3be3c
1 changed files with 8 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+8 -4
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@@ -58,6 +58,7 @@ class SpeedLimitController:
self._source = Source.none
self._state = SpeedLimitControlState.inactive
self._state_prev = SpeedLimitControlState.inactive
self._session_ended = False
self.pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
self.offset_type = OffsetType(self.params.get("SpeedLimitOffsetType", return_default=True))
@@ -219,8 +220,9 @@ class SpeedLimitController:
int(round((self._speed_limit + self.speed_limit_warning_offset) * self.speed_factor))
def transition_state_from_inactive(self) -> None:
self._state = SpeedLimitControlState.preActive
self.initial_max_set = False
if not self._session_ended:
self._state = SpeedLimitControlState.preActive
self.initial_max_set = False
def transition_state_from_preactive(self) -> None:
if self.initial_max_set_confirmed():
@@ -232,9 +234,10 @@ class SpeedLimitController:
self._state = SpeedLimitControlState.active
else:
self._state = SpeedLimitControlState.pending
elif (self.frame - self.last_op_engaged_frame) * DT_MDL > PRE_ACTIVE_GUARD_PERIOD:
elif (self.frame - self.last_op_engaged_frame) * DT_MDL > PRE_ACTIVE_GUARD_PERIOD and not self._session_ended:
# # If the initial max set speed isn't reached within the allocated period, permanently disable for this session
self._state = SpeedLimitControlState.inactive
self._session_ended = True
def transition_state_from_pending(self) -> None:
if self._speed_limit > 0:
@@ -258,10 +261,11 @@ class SpeedLimitController:
def state_control(self) -> None:
self._state_prev = self._state
# If op is disabled or SLC is disabled, go inactive
# If op is disabled or SLC is disabled, go inactive and reset session tracker
if not self.op_engaged or not self.enabled:
self._state = SpeedLimitControlState.inactive
self.initial_max_set = False
self._session_ended = False
return
self._state_transition_strategy[self._state]()