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

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This commit is contained in:
Jason Wen
2025-06-07 05:17:29 -04:00
parent d0b37d645f 2615735b87
commit 3bfbc5e629
1 changed files with 10 additions and 12 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py
+10 -12
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@@ -9,7 +9,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers
class SpeedLimitResolver:
_sm: messaging.SubMaster
_limit_solutions: dict[Source, float] # Store for speed limit solutions from different sources
_distance_solutions: dict[Source, float] # Store for distance to current speed limit start for different sources
_v_ego: float
@@ -40,27 +39,26 @@ class SpeedLimitResolver:
def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
self._v_ego = v_ego
self._current_speed_limit = current_speed_limit
self._sm = sm
self._resolve_limit_sources()
self._resolve_limit_sources(sm)
return self._consolidate()
def _resolve_limit_sources(self) -> None:
def _resolve_limit_sources(self, sm: messaging.SubMaster) -> None:
"""Get limit solutions from each data source"""
self._get_from_car_state()
self._get_from_map_data()
self._get_from_car_state(sm)
self._get_from_map_data(sm)
def _get_from_car_state(self) -> None:
if self._sm.updated['carStateSP']:
def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
if sm.updated['carStateSP']:
self._reset_limit_sources(Source.car_state)
self._limit_solutions[Source.car_state] = self._sm['carStateSP'].speedLimit
self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
self._distance_solutions[Source.car_state] = 0.
def _get_from_map_data(self) -> None:
def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
# Load limits from map_data
if self._sm.updated["liveMapDataSP"]:
if sm.updated['liveMapDataSP']:
self._reset_limit_sources(Source.map_data)
self._process_map_data(self._sm["liveMapDataSP"])
self._process_map_data(sm['liveMapDataSP'])
def _process_map_data(self, map_data: custom.LiveMapDataSP) -> None:
gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3