mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 20:03:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

Speed Limit Assist: update events handling (#1400)

Browse Source 
* Speed Limit Assist: update active event handling

* ok no more for non pcm long it was annoying

* 5 seconds preActive for non pcm long now

* Revert "5 seconds preActive for non pcm long now"

This reverts commit dfcc601035.

* dynamic alert size

* do the same here

* lint
This commit is contained in:
Jason Wen
2025-10-17 23:30:06 -04:00
committed by GitHub
parent 2825c00fcc
commit 72282f2d2e
2 changed files with 22 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
View File

@@ -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:
@@ -351,15 +361,15 @@ 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)
self.update_active_event(events_sp)
def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:

23
sunnypilot/selfdrive/selfdrived/events.py
View File

@@ -4,7 +4,6 @@ from openpilot.common.constants import CV
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
AlertSize = log.SelfdriveState.AlertSize
@@ -34,6 +33,9 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
alert_1_str = ""
alert_2_str = ""
alert_size = AlertSize.none
if CP.openpilotLongitudinalControl and CP.pcmCruise:
# PCM long
@@ -41,24 +43,15 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
speed_unit = "km/h" if metric else "mph"
alert_1_str = "Speed Limit Assist: Activation Required"
alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
else:
# Non PCM long
v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
arrow_str = ""
if req_plus:
arrow_str = "RES/+"
elif req_minus:
arrow_str = "SET/-"
alert_2_str = f"Operate the {arrow_str} cruise control button to activate"
alert_size = AlertSize.mid
return Alert(
"Speed Limit Assist: Activation Required",
alert_1_str,
alert_2_str,
AlertStatus.normal, AlertSize.mid,
AlertStatus.normal, alert_size,
Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)