IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/common/steer_delay.py

@@ -0,0 +1,60 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chooses which steer-actuator delay the lateral controllers run with: the value the
+live estimator learned, or the driver's fixed software delay — gated by the
+"IQLiveSteerDelay" param. The pick is mirrored into "IQSteerDelayCache" so consumers that do
+not subscribe to lateralDelay can still read the current value.
+"""
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+
+_ENABLE_KEY = "IQLiveSteerDelay"
+_FIXED_KEY = "IQSoftwareSteerDelay"
+_CACHE_KEY = "IQSteerDelayCache"
+
+
+def fixed_steer_delay(params, stock_delay):
+  """The rack's own delay plus the driver's IQSoftwareSteerDelay offset, as the UI reports it."""
+  return stock_delay + float(params.get(_FIXED_KEY, return_default=True))
+
+
+def resolve_steer_delay(params, stock_delay):
+  """Learned lateral delay while live-learning is enabled, otherwise the driver's fixed delay."""
+  if not params.get_bool(_ENABLE_KEY):
+    return fixed_steer_delay(params, stock_delay)
+  return float(params.get(_CACHE_KEY, return_default=True))
+
+
+def lateral_action_delay(params, car_params, live_delay):
+  """Delay the lateral path should be planned against.
+
+  Angle cars honour the IQLiveSteerDelay toggle so that with live learning off the
+  estimate never reaches the path: lagd cross-correlates against localizer lateral
+  accel, so it reports whole-vehicle response (~0.36 s measured on VW MQB, 0.44 s on
+  Tesla) where the lookahead wants actuator delay (~0.10 s). Torque cars keep the
+  live estimate.
+  """
+  if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+    return resolve_steer_delay(params, car_params.steerActuatorDelay)
+  return live_delay
+
+
+def cached_steer_delay():
+  """Last value SteerDelayPublisher mirrored into the param — usable without a
+  lateralDelay subscription (e.g. at process startup)."""
+  return Params().get(_CACHE_KEY, return_default=True)
+
+
+class SteerDelayPublisher:
+  """Refreshes IQSteerDelayCache every lag message: the learned live delay when the
+  toggle is on, else the actuator delay plus the driver's fixed software offset."""
+
+  def __init__(self, car_params):
+    self._params = Params()
+    self._actuator_delay = car_params.steerActuatorDelay
+
+  def update(self, lag_msg):
+    live = self._params.get_bool(_ENABLE_KEY)
+    value = lag_msg.lateralDelay.lateralDelay if live else fixed_steer_delay(self._params, self._actuator_delay)
+    self._params.put_nonblocking(_CACHE_KEY, value)