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Update mapd to v2

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This commit is contained in:
James
2026-01-06 17:12:51 -07:00
parent dc9a91e201
commit 5758e61a6d
17 changed files with 281 additions and 322 deletions
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frogpilot/controls/lib/speed_limit_controller.py
+7 -20
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@@ -9,7 +9,7 @@ from concurrent.futures import ThreadPoolExecutor
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
from openpilot.frogpilot.common.frogpilot_utilities import calculate_bearing_offset, calculate_distance_to_point, is_url_pingable
from openpilot.frogpilot.common.frogpilot_utilities import calculate_bearing_offset, is_url_pingable
FREE_MAPBOX_REQUESTS = 100_000
@@ -239,7 +239,7 @@ class SpeedLimitController:
self.frogpilot_planner.params.put_nonblocking("PreviousSpeedLimit", self.target)
def update_limits(self, dashboard_speed_limit, now, time_validated, v_cruise, v_ego, sm):
self.update_map_speed_limit(v_ego)
self.update_map_speed_limit(v_ego, sm)
limits = {
"Dashboard": dashboard_speed_limit,
@@ -302,24 +302,11 @@ class SpeedLimitController:
self.speed_limit_changed_timer = 0
self.unconfirmed_speed_limit = 0
def update_map_speed_limit(self, v_ego):
if not self.frogpilot_planner.gps_position:
return
self.map_speed_limit = self.frogpilot_planner.params_memory.get("MapSpeedLimit")
next_map_speed_limit = self.frogpilot_planner.params_memory.get("NextMapSpeedLimit")
self.next_speed_limit = next_map_speed_limit.get("speedlimit", 0)
if self.next_speed_limit:
current_latitude = self.frogpilot_planner.gps_position.get("latitude")
current_longitude = self.frogpilot_planner.gps_position.get("longitude")
next_latitude = next_map_speed_limit.get("latitude")
next_longitude = next_map_speed_limit.get("longitude")
distance_to_upcoming = calculate_distance_to_point(current_latitude, current_longitude, next_latitude, next_longitude)
def update_map_speed_limit(self, v_ego, sm):
self.map_speed_limit = sm["mapdOut"].speedLimit
self.next_speed_limit = sm["mapdOut"].nextSpeedLimit
if self.next_speed_limit > 0:
if self.map_speed_limit < self.next_speed_limit:
max_lookahead = self.frogpilot_toggles.map_speed_lookahead_higher * v_ego
elif self.map_speed_limit > self.next_speed_limit:
@@ -327,7 +314,7 @@ class SpeedLimitController:
else:
max_lookahead = 0
if distance_to_upcoming < max_lookahead:
if sm["mapdOut"].nextSpeedLimitDistance < max_lookahead:
self.map_speed_limit = self.next_speed_limit
def update_override(self, v_cruise, v_cruise_diff, v_ego, v_ego_diff, sm):