mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-27 17:42:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Yellow Brick Road, Emerald City, Oz

Browse Source
This commit is contained in:
firestarsdog
2026-05-18 03:35:51 -04:00
parent 5bb401772a
commit ed06aa8920
1 changed files with 10 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
starpilot/controls/lib/speed_limit_controller.py
+10 -5
View File
@@ -57,6 +57,7 @@ class SpeedLimitController:
self.previous_source = "None"
self.source = "None"
self.previous_road_name = ""
self._slc_adopt_counter = 0
@@ -244,7 +245,7 @@ class SpeedLimitController:
self.mapbox_future = future
future.add_done_callback(complete_request)
def handle_limit_change(self, desired_source, desired_target, v_ego, sm):
def handle_limit_change(self, desired_source, desired_target, current_road_name, v_ego, sm):
self.speed_limit_changed_timer += DT_MDL
had_override = self.override_active(v_ego, sm["carState"].gasPressed)
@@ -269,6 +270,7 @@ class SpeedLimitController:
self.previous_source = desired_source
self.previous_target = desired_target
self.previous_road_name = current_road_name
elif desired_target < self.target and not self.starpilot_toggles.speed_limit_confirmation_lower:
self.source = desired_source
@@ -284,11 +286,12 @@ class SpeedLimitController:
self.source = "None"
self.unconfirmed_speed_limit = desired_target
if self.target != self.previous_target and self.target > 0 and not speed_limit_denied:
if (self.target != self.previous_target or self.previous_road_name != current_road_name) and self.target > 0 and not speed_limit_denied:
self.denied_target = 0
self.previous_source = self.source
self.previous_target = self.target
self.previous_road_name = current_road_name
self.starpilot_planner.params.put_nonblocking("PreviousSpeedLimit", self.target)
@@ -342,7 +345,7 @@ class SpeedLimitController:
desired_target = self.mapbox_limit
if not display_only and (desired_target == 0 or self.target == 0):
if self.denied_target != self.previous_target > 0 and self.starpilot_toggles.slc_fallback_previous_speed_limit:
if self.previous_target > 0 and self.starpilot_toggles.slc_fallback_previous_speed_limit:
desired_source = self.previous_source
desired_target = self.previous_target
@@ -370,8 +373,10 @@ class SpeedLimitController:
return
if abs(desired_target - self.previous_target) >= 1:
self.handle_limit_change(desired_source, desired_target, v_ego, sm)
current_road_name = sm["mapdOut"].roadName if desired_source == "Map Data" else ""
if abs(desired_target - self.previous_target) >= 1 or (current_road_name != self.previous_road_name and current_road_name != ""):
self.handle_limit_change(desired_source, desired_target, current_road_name, v_ego, sm)
elif desired_source != self.source and abs(desired_target - self.target) < 1:
self.source = desired_source
else: