mawei/openpilot-evo
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Merge branch 'master' of https://github.com/sunnypilot/sunnypilot

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infiniteCable2
2026-02-19 20:41:33 +01:00
parent c1d2d784a4 5ccabb9d54
commit 0c66e35cba
2 changed files with 27 additions and 8 deletions
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selfdrive/ui/sunnypilot/onroad/speed_limit.py
+24 -5
View File
@@ -22,6 +22,8 @@ from openpilot.system.ui.widgets import Widget
METER_TO_FOOT = 3.28084
METER_TO_MILE = 0.000621371
AHEAD_THRESHOLD = 5
SET_SPEED_NA = 255
KM_TO_MILE = 0.621371
AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
@@ -58,8 +60,11 @@ class SpeedLimitRenderer(Widget):
self.speed_limit_ahead_frame = 0
self.assist_frame = 0
self.speed = 0.0
self.set_speed = 0.0
self.is_cruise_set: bool = False
self.is_cruise_available: bool = True
self.set_speed: float = SET_SPEED_NA
self.speed: float = 0.0
self.v_ego_cluster_seen: bool = False
self.font_bold = gui_app.font(FontWeight.BOLD)
self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
@@ -77,6 +82,8 @@ class SpeedLimitRenderer(Widget):
def update(self):
sm = ui_state.sm
if sm.recv_frame["carState"] < ui_state.started_frame:
self.set_speed = SET_SPEED_NA
self.speed = 0.0
return
if sm.updated["longitudinalPlanSP"]:
@@ -106,9 +113,21 @@ class SpeedLimitRenderer(Widget):
self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
cs = sm["carState"]
self.set_speed = cs.cruiseState.speed * self.speed_conv
v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
controls_state = sm['controlsState']
car_state = sm["carState"]
v_cruise_cluster = car_state.vCruiseCluster
self.set_speed = (
controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
)
self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
self.is_cruise_available = self.set_speed != -1
if self.is_cruise_set and not ui_state.is_metric:
self.set_speed *= KM_TO_MILE
self.v_ego_cluster_seen = self.v_ego_cluster_seen or car_state.vEgoCluster != 0.0
v_ego = car_state.vEgoCluster if self.v_ego_cluster_seen else car_state.vEgo
self.speed = max(0.0, v_ego * self.speed_conv)
@staticmethod
uv.lock
Generated
+3 -3
View File
@@ -414,11 +414,11 @@ wheels = [
[[package]]
name = "filelock"
version = "3.24.2"
version = "3.24.3"
source = { registry = "https://pypi.org/simple" }
sdist = { url = "https://files.pythonhosted.org/packages/02/a8/dae62680be63cbb3ff87cfa2f51cf766269514ea5488479d42fec5aa6f3a/filelock-3.24.2.tar.gz", hash = "sha256:c22803117490f156e59fafce621f0550a7a853e2bbf4f87f112b11d469b6c81b", size = 37601, upload-time = "2026-02-16T02:50:45.614Z" }
sdist = { url = "https://files.pythonhosted.org/packages/73/92/a8e2479937ff39185d20dd6a851c1a63e55849e447a55e798cc2e1f49c65/filelock-3.24.3.tar.gz", hash = "sha256:011a5644dc937c22699943ebbfc46e969cdde3e171470a6e40b9533e5a72affa", size = 37935, upload-time = "2026-02-19T00:48:20.543Z" }
wheels = [
{ url = "https://files.pythonhosted.org/packages/e7/04/a94ebfb4eaaa08db56725a40de2887e95de4e8641b9e902c311bfa00aa39/filelock-3.24.2-py3-none-any.whl", hash = "sha256:667d7dc0b7d1e1064dd5f8f8e80bdac157a6482e8d2e02cd16fd3b6b33bd6556", size = 24152, upload-time = "2026-02-16T02:50:44Z" },
{ url = "https://files.pythonhosted.org/packages/9c/0f/5d0c71a1aefeb08efff26272149e07ab922b64f46c63363756224bd6872e/filelock-3.24.3-py3-none-any.whl", hash = "sha256:426e9a4660391f7f8a810d71b0555bce9008b0a1cc342ab1f6947d37639e002d", size = 24331, upload-time = "2026-02-19T00:48:18.465Z" },
]
[[package]]