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IQ.Pilot Release Commit @ 9fe0487

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IQ.Lvbs CI [bot]
2026-07-27 01:04:28 -05:00
parent 6edfe55a1e
commit 541e76a873
210 changed files with 992 additions and 504 deletions
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iqpilot/selfdrive/controls/lib/longitudinal_planner.py
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@@ -13,7 +13,7 @@ from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
from openpilot.iqpilot.selfdrive.controls.lib.custom_stop_distance import CustomStopDistance
from openpilot.iqpilot.selfdrive.controls.lib.iq_dynamic.engine import IQDynamicController
from openpilot.iqpilot.selfdrive.controls.lib.iq_dynamic.imahelper import IQConstants
from openpilot.iqpilot.selfdrive.controls.lib.helpers.e2e_alerts import E2EAlertsHelper
from openpilot.iqpilot.selfdrive.controls.lib.helpers.e2e_alerts import EndToEndAlertEngine
from openpilot.iqpilot.selfdrive.controls.lib.slc_vcruise import SLCVCruise
from openpilot.iqpilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_ADAPT_ACC
from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
@@ -34,7 +34,7 @@ class LongitudinalPlannerIQ:
self.slimit = SLCVCruise()
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
self.source = LongitudinalPlanSource.cruise
self.iqmodeloutput = E2EAlertsHelper()
self.e2e_alerts = EndToEndAlertEngine()
self.output_v_target = 0.
self.output_a_target = 0.
self.speed_limit_last = 0.
@@ -146,7 +146,7 @@ class LongitudinalPlannerIQ:
for event_name in getattr(self.slimit, 'pending_events', []):
self.events_iq.add(event_name)
self.custom_stop_distance.update()
self.iqmodeloutput.update(sm, self.events_iq)
self.e2e_alerts.update(sm, self.events_iq)
if bool(getattr(sm["iqCarState"], "alcOverrideAlert", False)):
self.events_iq.add(custom.IQOnroadEvent.EventName.steeringOverrideReengageAlc)
@@ -244,10 +244,9 @@ class LongitudinalPlannerIQ:
assist.vTarget = float(self.output_v_target if assist.active else 255.)
assist.aTarget = float(self.slimit.slc_a_target if assist.active else 0.)
# E2E Alerts
e2eAlerts = plan_msg.e2eAlerts
e2eAlerts.greenLightAlert = self.iqmodeloutput.queue_alert
e2eAlerts.leadDepartAlert = self.iqmodeloutput.lead_alert
e2eAlerts.pathOpen = self.e2e_alerts.path_alert
e2eAlerts.leadPullaway = self.e2e_alerts.lead_alert
valid = sm.all_checks(service_list=['carState', 'controlsState'])