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IQ.Pilot Release Commit @ 0809b59

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IQ.Lvbs CI [bot]
2026-07-30 19:40:36 -05:00
parent c7908ad2e0
commit a6c27ac169
228 changed files with 11183 additions and 11691 deletions
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34
iqpilot/selfdrive/controls/lib/speed_limit_controller.py
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@@ -17,7 +17,7 @@ from openpilot.common.realtime import DT_MDL
from openpilot.common.swaglog import cloudlog
from openpilot.iqpilot.common.k3_slc_log import k3_slc_log
from openpilot.iqpilot.common.slc_utilities import calculate_bearing_offset, is_url_pingable
from openpilot.iqpilot.common.slc_variables import FREE_MAPBOX_REQUESTS, OFFSET_MAP_IMPERIAL, OFFSET_MAP_METRIC
from openpilot.iqpilot.common.slc_variables import FREE_MAPBOX_REQUESTS, OFFSET_MAP_IMPERIAL, OFFSET_MAP_METRIC, OFFSET_PERCENT_MAX
try:
import requests
@@ -354,6 +354,8 @@ class SpeedLimitController:
pass
self.executor = ThreadPoolExecutor(max_workers=1)
self._offset_cache = {}
self._offset_cache_t = 0.0
self._last_mapbox_log_t = 0.0
self._last_mapbox_diag_t = 0.0
self._last_mapbox_diag_message = None
@@ -416,17 +418,33 @@ class SpeedLimitController:
return self._assist.output_a_target
def get_offset(self, is_metric):
target = self._assist.target
# offsets only apply to real limit sources: fallback set-speed publishes "None",
# construction clamps must never be inflated
if target <= 0 or self._assist.source in ("None", "Construction"):
return 0.0
offset_map = OFFSET_MAP_METRIC if is_metric else OFFSET_MAP_IMPERIAL
for low, high, offset_param in offset_map:
if low < self._assist.target < high:
offset_value = self.params.get(offset_param)
if offset_value is not None:
if isinstance(offset_value, bytes):
return float(offset_value.decode("utf-8"))
return float(offset_value)
return 0.0
if low <= target < high:
percent = float(np.clip(self._get_offset_percent(offset_param), -OFFSET_PERCENT_MAX, OFFSET_PERCENT_MAX))
return target * percent / 100.0
return 0.0
def _get_offset_percent(self, offset_param):
now_mono = time.monotonic()
if now_mono - self._offset_cache_t >= 5.0:
self._offset_cache.clear()
self._offset_cache_t = now_mono
if offset_param not in self._offset_cache:
offset_value = self.params.get(offset_param)
try:
if isinstance(offset_value, bytes):
offset_value = offset_value.decode("utf-8")
self._offset_cache[offset_param] = float(offset_value) if offset_value is not None else 0.0
except (ValueError, TypeError):
self._offset_cache[offset_param] = 0.0
return self._offset_cache[offset_param]
@staticmethod
def _is_alive(sm, key):
if hasattr(sm, "alive"):