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no override for now

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This commit is contained in:
Jason Wen
2025-09-20 03:47:14 -04:00
parent dc449f0969
commit 66a68c9f3e
2 changed files with 3 additions and 16 deletions
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cereal/custom.capnp
-1
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@@ -212,7 +212,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
pending @3; # Awaiting new speed limit.
adapting @4; # Reducing speed to match new speed limit.
active @5; # Cruising at speed limit.
overriding @6; # System overriding with manual control.
}
}
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+3 -15
View File
@@ -21,7 +21,7 @@ SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, SpeedLimitAssistState.overriding, *ACTIVE_STATES)
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
DISABLED_GUARD_PERIOD = 2 # secs.
PRE_ACTIVE_GUARD_PERIOD = 5 # secs. Time to wait after activation before considering temp deactivation signal.
@@ -58,7 +58,6 @@ class SpeedLimitAssist:
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
self.long_enabled = False
self.long_enabled_prev = False
self.long_override = False
self.is_enabled = False
self.is_active = False
self.v_ego = 0.
@@ -145,13 +144,11 @@ class SpeedLimitAssist:
self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
self.pre_active_timer = max(0, self.pre_active_timer - 1)
# ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE, OVERRIDING
# ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
if self.state != SpeedLimitAssistState.disabled:
if not self.long_enabled or not self.enabled:
self.state = SpeedLimitAssistState.disabled
self.initial_max_set = False
elif self.long_override:
self.state = SpeedLimitAssistState.overriding
else:
# ACTIVE
@@ -191,11 +188,6 @@ class SpeedLimitAssist:
# Timeout - session ended
self.state = SpeedLimitAssistState.inactive
# OVERRIDING
elif self.state == SpeedLimitAssistState.overriding:
if not self.long_override:
self.state = SpeedLimitAssistState.preActive
# INACTIVE
elif self.state == SpeedLimitAssistState.inactive:
pass
@@ -203,10 +195,7 @@ class SpeedLimitAssist:
# DISABLED
elif self.state == SpeedLimitAssistState.disabled:
if self.long_enabled and self.enabled:
if self.long_override:
self.state = SpeedLimitAssistState.overriding
elif not self.long_enabled_prev:
if not self.long_enabled_prev:
self.pre_active_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
elif self.pre_active_timer <= 0:
@@ -231,7 +220,6 @@ class SpeedLimitAssist:
def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float,
speed_limit: float, speed_limit_offset: float, distance: float, events_sp: EventsSP) -> None:
self.long_enabled = long_enabled
self.long_override = long_override
self.v_ego = v_ego
self.a_ego = a_ego