From 7b4d84fc7d3d64b696a0c7d4efb19aeadf4ea315 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 21 Sep 2025 00:30:46 -0400 Subject: [PATCH] update events --- .../controls/lib/speed_limit/speed_limit_assist.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py index d0bfb59564..37ca52b647 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py @@ -221,16 +221,19 @@ class SpeedLimitAssist: def update_events(self, events_sp: EventsSP) -> None: if self.state == SpeedLimitAssistState.preActive and self._state_prev != SpeedLimitAssistState.preActive: events_sp.add(EventNameSP.speedLimitPreActive) + + elif self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending: + events_sp.add(EventNameSP.speedLimitPending) + elif self.is_active: if self._state_prev not in ACTIVE_STATES: - if self._speed_limit > 0: - events_sp.add(EventNameSP.speedLimitActive) - else: - events_sp.add(EventNameSP.speedLimitPending) + events_sp.add(EventNameSP.speedLimitActive) + + # only notify if we acquire a valid speed limit elif self.speed_limit_changed and self._speed_limit > 0: if self.speed_limit_prev <= 0: events_sp.add(EventNameSP.speedLimitActive) - else: + elif self.speed_limit_prev > 0: events_sp.add(EventNameSP.speedLimitChanged) def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float,