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Speed Limit Assist: update active event handling

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This commit is contained in:
Jason Wen
2025-10-17 11:58:19 -04:00
parent 063aa994d2
commit 62ec40bba6
1 changed files with 13 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+13 -3
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@@ -109,6 +109,16 @@ class SpeedLimitAssist:
def target_set_speed_confirmed(self) -> bool:
return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
@property
def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
def update_active_event(self, events_sp: EventsSP) -> None:
if self.v_cruise_cluster_below_confirm_speed_threshold:
events_sp.add(EventNameSP.speedLimitChanged)
else:
events_sp.add(EventNameSP.speedLimitActive)
def get_v_target_from_control(self) -> float:
if self._has_speed_limit:
if self.pcm_op_long and self.is_enabled:
@@ -175,7 +185,7 @@ class SpeedLimitAssist:
@property
def apply_confirm_speed_threshold(self) -> bool:
# below CST: always require user confirmation
if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
if self.v_cruise_cluster_below_confirm_speed_threshold:
return True
# at/above CST:
@@ -351,13 +361,13 @@ class SpeedLimitAssist:
if self.is_active:
if self._state_prev not in ACTIVE_STATES:
events_sp.add(EventNameSP.speedLimitActive)
self.update_active_event(events_sp)
# only notify if we acquire a valid speed limit
# do not check has_speed_limit here
elif self._speed_limit != self.speed_limit_prev:
if self.speed_limit_prev <= 0:
events_sp.add(EventNameSP.speedLimitActive)
self.update_active_event(events_sp)
elif self.speed_limit_prev > 0 and self._speed_limit > 0:
events_sp.add(EventNameSP.speedLimitChanged)