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firestar5683
2026-07-03 19:39:29 -05:00
parent cefcc41bca
commit 650cb03b60
2 changed files with 19 additions and 26 deletions
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starpilot/system/speed_limit_vision.py
+4 -23
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@@ -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)