NoDashLeak

selfdrive/ui/mici/onroad/speed_limit_utils.py

@@ -3,10 +3,22 @@ from __future__ import annotations
 from collections.abc import Mapping
 
 
+SOURCE_PRIORITY_MODES = {"Highest", "Lowest"}
+NO_SOURCE = {"", "None"}
+
+
 def _normalize_limit(limit: float) -> float:
   return limit if limit >= 1.0 else 0.0
 
 
+def _source_allowed(source: str, primary_priority: str, secondary_priority: str) -> bool:
+  if source in NO_SOURCE:
+    return False
+  if primary_priority in SOURCE_PRIORITY_MODES:
+    return True
+  return source in (primary_priority, secondary_priority, "Mapbox")
+
+
 def resolve_display_speed_limit_ms(
   slc_speed_limit: float,
   speed_limit_source: str,
@@ -15,13 +27,13 @@ def resolve_display_speed_limit_ms(
   secondary_priority: str,
 ) -> float:
   slc_speed_limit = _normalize_limit(slc_speed_limit)
-  if slc_speed_limit > 0.0:
+  if slc_speed_limit > 0.0 and _source_allowed(speed_limit_source, primary_priority, secondary_priority):
     return slc_speed_limit
 
   normalized_limits = {source: _normalize_limit(limit) for source, limit in source_limits.items()}
 
   active_source_limit = normalized_limits.get(speed_limit_source, 0.0)
-  if active_source_limit > 0.0:
+  if active_source_limit > 0.0 and _source_allowed(speed_limit_source, primary_priority, secondary_priority):
     return active_source_limit
 
   available_limits = {source: limit for source, limit in normalized_limits.items() if limit > 0.0}
@@ -38,4 +50,4 @@ def resolve_display_speed_limit_ms(
     if limit > 0.0:
       return limit
 
-  return next(iter(available_limits.values()))
+  return 0.0

starpilot/system/speed_limit_vision.py

@@ -27,7 +27,6 @@ HISTORY_SECONDS = 2.0
 CONSISTENT_DETECTIONS = 2
 CHANGE_CONSISTENT_DETECTIONS = 3
 MODEL_DETECTION_SHORT_CIRCUIT_CONFIDENCE = 0.65
-PUBLISHED_HOLD_SECONDS = 12.0
 PUBLISHED_CHANGE_COOLDOWN_SECONDS = 1.4
 PUBLISHED_REVERT_CONFIDENCE = 0.97
 AUTO_BOOKMARK_CONFIRM_DELAY_SECONDS = 0.9
@@ -668,9 +667,6 @@ class SpeedLimitVisionDaemon:
     self.last_map_transition_miss_speed_limit_mph = current_speed_limit_mph
     self._record_map_transition_miss(current_speed_limit_mph, previous_speed_limit_mph)
 
-  def _published_detection_stale(self, now):
-    return self.published_speed_limit_mph > 0 and now - self.last_detection_at > PUBLISHED_HOLD_SECONDS
-
   def _load_model(self):
     self.net = None
     self.classifier_net = None
@@ -1753,12 +1749,6 @@ class SpeedLimitVisionDaemon:
       if not self._connect_camera():
         status = "Waiting for camera stream"
         if self.published_speed_limit_mph > 0:
-          now = time.monotonic()
-          if self._published_detection_stale(now):
-            self._write_debug_event("stale_clear", reason="stream_unavailable")
-            self._publish_status("Waiting for camera stream", clear_speed=True)
-            ratekeeper.keep_time()
-            continue
           status = f"{status}, holding {self.published_speed_limit_mph} mph"
         self._publish_status(status, clear_speed=False)
         ratekeeper.keep_time()
@@ -1768,11 +1758,7 @@ class SpeedLimitVisionDaemon:
       inference_interval = FOLLOWUP_INFERENCE_INTERVAL if now < self.followup_until else INFERENCE_INTERVAL
       if now - self.last_inference_at < inference_interval:
         if self.published_speed_limit_mph > 0:
-          if self._published_detection_stale(now):
-            self._write_debug_event("stale_clear", reason="hold_timeout")
-            self._publish_status(f"Scanning {self.stream_name}", clear_speed=True)
-          else:
-            self._publish_detection(self.published_speed_limit_mph, self.published_confidence, "Holding")
+          self._publish_detection(self.published_speed_limit_mph, self.published_confidence, "Holding")
         else:
           self._publish_status(f"Scanning {self.stream_name}", clear_speed=False)
         ratekeeper.keep_time()
@@ -1781,9 +1767,8 @@ class SpeedLimitVisionDaemon:
       buffer = self.client.recv() if self.client is not None else None
       self.last_inference_at = now
       if buffer is None or not buffer.data.any():
-        if self._published_detection_stale(now):
-          self._write_debug_event("stale_clear", reason="empty_frame")
-          self._publish_status(f"Waiting for {self.stream_name}", clear_speed=True)
+        if self.published_speed_limit_mph > 0:
+          self._publish_status(f"Waiting for {self.stream_name}, holding {self.published_speed_limit_mph} mph", clear_speed=False)
         else:
           self._publish_status(f"Waiting for {self.stream_name}", clear_speed=False)
         ratekeeper.keep_time()
@@ -1797,11 +1782,7 @@ class SpeedLimitVisionDaemon:
       if detection is not None:
         self._update_detection(detection)
       elif self.published_speed_limit_mph > 0:
-        if self._published_detection_stale(now):
-          self._write_debug_event("stale_clear", reason="no_detection")
-          self._publish_status(f"Scanning {self.stream_name}", clear_speed=True)
-        else:
-          self._publish_detection(self.published_speed_limit_mph, self.published_confidence, "Holding")
+        self._publish_detection(self.published_speed_limit_mph, self.published_confidence, "Holding")
       else:
         self._publish_status(f"Scanning {self.stream_name}", clear_speed=False)