mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-06-27 09:32:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'feature/slc' into ui/slc-ui

Browse Source
This commit is contained in:
nayan
2025-08-25 17:14:41 -04:00
parent b8620fb843 4a0b30ae35
commit 2d937295ed
4 changed files with 5 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
-1
View File
@@ -211,7 +211,6 @@ class SpeedLimitController:
def transition_state_from_pre_active(self) -> None:
""" Make state transition from preActive state """
pass
def transition_state_from_adapting(self) -> None:
""" Make state transition from adapting state """
sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py
+2 -2
View File
@@ -63,7 +63,7 @@ class SpeedLimitResolver:
gps_data = sm[self._gps_location_service]
map_data = sm['liveMapDataSP']
gps_fix_age = time.time() - gps_data.unixTimestampMillis * 1e-3
gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
return
@@ -77,7 +77,7 @@ class SpeedLimitResolver:
gps_data = sm[self._gps_location_service]
map_data = sm['liveMapDataSP']
distance_since_fix = self._v_ego * (time.time() - gps_data.unixTimestampMillis * 1e-3)
distance_since_fix = self._v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
self._limit_solutions[Source.map_data] = speed_limit
sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py
+1 -1
View File
@@ -24,7 +24,7 @@ class StateMachine:
if events_sp.has(EventNameSP.speedLimitAdapting):
self.state = State.adapting
elif events_sp.has(EventNameSP.speedLimitActive):
self.state = State.activ
self.state = State.active
# ACTIVE
elif self.state == State.active:
sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py
+2 -2
View File
@@ -38,7 +38,7 @@ def setup_sm_mock(mocker: MockerFixture):
'speedLimitAheadDistance': 0.,
}, mocker)
gps_data = create_mock({
'unixTimestampMillis': time.time() * 1e3,
'unixTimestampMillis': time.monotonic() * 1e3,
}, mocker)
sm_mock = mocker.MagicMock()
sm_mock.__getitem__.side_effect = lambda key: {
@@ -124,7 +124,7 @@ class TestSpeedLimitResolverValidation:
def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
resolver = resolver_class(policy)
sm_mock = mocker.MagicMock()
sm_mock['gpsLocation'].unixTimestampMillis = (time.time() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
resolver._get_from_map_data(sm_mock)
assert resolver._limit_solutions[Source.map_data] == 0.
assert resolver._distance_solutions[Source.map_data] == 0.