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pending event

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This commit is contained in:
Jason Wen
2025-09-20 21:25:19 -04:00
parent 8dcc4a4d8c
commit b086a89f90
3 changed files with 14 additions and 3 deletions
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cereal/custom.capnp
+2 -2
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@@ -267,8 +267,8 @@ struct OnroadEventSP @0xda96579883444c35 {
laneTurnRight @18;
speedLimitPreActive @19;
speedLimitActive @20;
speedLimitConfirmed @21;
speedLimitChanged @22;
speedLimitChanged @21;
speedLimitPending @22;
}
}
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+4 -1
View File
@@ -223,7 +223,10 @@ class SpeedLimitAssist:
events_sp.add(EventNameSP.speedLimitPreActive)
elif self.is_active:
if self._state_prev not in ACTIVE_STATES:
events_sp.add(EventNameSP.speedLimitActive)
if self._speed_limit > 0:
events_sp.add(EventNameSP.speedLimitActive)
else:
events_sp.add(EventNameSP.speedLimitPending)
elif self.speed_limit_changed and self._speed_limit > 0:
if self.speed_limit_prev <= 0:
events_sp.add(EventNameSP.speedLimitActive)
sunnypilot/selfdrive/selfdrived/events.py
+8
View File
@@ -186,4 +186,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
},
EventNameSP.speedLimitPending: {
ET.WARNING: Alert(
"Automatically adjusting to the previous speed limit",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
},
}