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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 04:40:13 -04:00
parent dfb8b0963b 678216de2c
commit d0b37d645f
1 changed files with 7 additions and 16 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py
+7 -16
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@@ -37,9 +37,6 @@ class SpeedLimitResolver:
self._limit_solutions[source] = 0.
self._distance_solutions[source] = 0.
def _is_sock_updated(self, sock: str) -> bool:
return self._sm.alive[sock] and self._sm.updated[sock]
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
@@ -54,22 +51,16 @@ class SpeedLimitResolver:
self._get_from_map_data()
def _get_from_car_state(self) -> None:
if not self._is_sock_updated('carStateSP'):
debug('SL: No carStateSP instruction for speed limit')
return
self._reset_limit_sources(Source.car_state)
self._limit_solutions[Source.car_state] = self._sm['carStateSP'].speedLimit
self._distance_solutions[Source.car_state] = 0.
if self._sm.updated['carStateSP']:
self._reset_limit_sources(Source.car_state)
self._limit_solutions[Source.car_state] = self._sm['carStateSP'].speedLimit
self._distance_solutions[Source.car_state] = 0.
def _get_from_map_data(self) -> None:
if not self._is_sock_updated("liveMapDataSP"):
debug('SL: No map data for speed limit')
return
# Load limits from map_data
self._reset_limit_sources(Source.map_data)
self._process_map_data(self._sm["liveMapDataSP"])
if self._sm.updated["liveMapDataSP"]:
self._reset_limit_sources(Source.map_data)
self._process_map_data(self._sm["liveMapDataSP"])
def _process_map_data(self, map_data: custom.LiveMapDataSP) -> None:
gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3