ICBM and SLA Dependecy Fix

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py

@@ -129,8 +129,16 @@ def get_v_target_from_control(self) -> float:
     if self._has_speed_limit:
       if self.pcm_op_long and self.is_enabled:
         return self._speed_limit_final_last
+      # ICBM vehicles need target in preActive state to adjust cluster speed
+      # This breaks the circular dependency: SLA preActive -> ICBM adjusts cluster -> SLA becomes active
+      # Non-PCM vehicles get target when active
       if not self.pcm_op_long and self.is_active:
         return self._speed_limit_final_last
+      # ICBM vehicles also get target in preActive state to break circular dependency
+      if (not self.pcm_op_long and self.is_enabled and
+          self.state == SpeedLimitAssistState.preActive and
+          self.CP_SP.intelligentCruiseButtonManagementAvailable):
+        return self._speed_limit_final_last
 
     # Fallback
     return V_CRUISE_UNSET

sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

@@ -276,3 +276,54 @@ def test_maintain_states_with_no_changes(self):
         assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
       elif initial_state in ACTIVE_STATES:
         assert self.sla.state in ACTIVE_STATES
+  def test_icbm_preactive_target_provision(self):
+    """Test that ICBM vehicles get target in preActive state to break circular dependency"""
+    # Set up ICBM vehicle (non-PCM)
+    self.sla.pcm_op_long = False
+    self.sla.CP_SP.intelligentCruiseButtonManagementAvailable = True
+
+    # Set up preActive state with speed limit
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.is_enabled = True
+    self.sla.is_active = False  # Not active yet - this is the key condition
+    self.sla._has_speed_limit = True
+    self.sla._speed_limit_final_last = SPEED_LIMITS['city']  # 35 mph
+
+    # Test that ICBM gets target in preActive state
+    v_target = self.sla.get_v_target_from_control()
+    assert v_target == SPEED_LIMITS['city'], f"Expected {SPEED_LIMITS['city']}, got {v_target}"
+    assert v_target != V_CRUISE_UNSET, "ICBM should get target in preActive state"
+
+  def test_icbm_preactive_requires_icbm_availability(self):
+    """Test that non-ICBM vehicles don't get target in preActive state"""
+    # Set up non-ICBM vehicle (non-PCM)
+    self.sla.pcm_op_long = False
+    self.sla.CP_SP.intelligentCruiseButtonManagementAvailable = False
+
+    # Set up preActive state with speed limit
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.is_enabled = True
+    self.sla.is_active = False
+    self.sla._has_speed_limit = True
+    self.sla._speed_limit_final_last = SPEED_LIMITS['city']
+
+    # Non-ICBM vehicles should not get target in preActive state
+    v_target = self.sla.get_v_target_from_control()
+    assert v_target == V_CRUISE_UNSET, "Non-ICBM vehicles should not get target in preActive state"
+
+  def test_icbm_preactive_requires_enabled_state(self):
+    """Test that disabled ICBM vehicles don't get target in preActive state"""
+    # Set up ICBM vehicle (non-PCM) but disabled
+    self.sla.pcm_op_long = False
+    self.sla.CP_SP.intelligentCruiseButtonManagementAvailable = True
+
+    # Set up preActive state with speed limit but disabled
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.is_enabled = False
+    self.sla.is_active = False
+    self.sla._has_speed_limit = True
+    self.sla._speed_limit_final_last = SPEED_LIMITS['city']
+
+    # Disabled ICBM vehicles should not get target
+    v_target = self.sla.get_v_target_from_control()
+    assert v_target == V_CRUISE_UNSET, "Disabled ICBM should not get target"