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IQ.Pilot Release Commit @ d2ce8a8

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-28 08:35:52 -05:00
parent 9206164707
commit ee1dca77c7
210 changed files with 19726 additions and 455 deletions
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46
iqpilot/selfdrive/controls/lib/speed_limit_controller.py
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@@ -261,10 +261,11 @@ class IQSpeedLimitAssist:
for btn in sm["carState"].buttonEvents:
if btn.pressed:
continue
if is_lower and btn.type in CONFIRM_LOWER_BUTTONS:
button_type = getattr(btn.type, "raw", btn.type)
if is_lower and button_type in CONFIRM_LOWER_BUTTONS:
confirmed = True
break
elif not is_lower and btn.type in CONFIRM_HIGHER_BUTTONS:
elif not is_lower and button_type in CONFIRM_HIGHER_BUTTONS:
confirmed = True
break
except (AttributeError, TypeError):
@@ -314,6 +315,10 @@ class SpeedLimitController:
self.override_slc = False
self.overridden_speed = 0.0
self._last_override_request_id = 0
self._blocked_override_gesture = 0
self._override_limit = None
self._override_set_speed = False
self._resolved_limit = 0.0
self._resolved_source = "None"
@@ -807,9 +812,44 @@ class SpeedLimitController:
self.pending_events.append(EventNameIQ.constructionZoneDetected)
self._czone_was_limiting = czone_limiting
def reset_override(self, sm):
self.override_slc = False
self.overridden_speed = 0.0
self._last_override_request_id = int(getattr(sm["iqCarState"], "slcSetSpeedRequestId", 0))
self._blocked_override_gesture = int(getattr(sm["iqCarState"], "slcSetSpeedGestureId", 0))
self._override_limit = None
def update_override(self, v_cruise, v_cruise_diff, v_ego, v_ego_diff, sm, slc_params, is_metric):
offset = self.get_offset(is_metric)
target = self._assist.target
set_speed_override = slc_params.get("speed_limit_controller_override_set_speed", False)
mode_changed = set_speed_override != self._override_set_speed
self._override_set_speed = set_speed_override
if set_speed_override:
request_id = int(getattr(sm["iqCarState"], "slcSetSpeedRequestId", 0))
gesture_id = int(getattr(sm["iqCarState"], "slcSetSpeedGestureId", 0))
request_speed = float(getattr(sm["iqCarState"], "slcSetSpeedRequestKph", 0.0)) * CV.KPH_TO_MS
new_request = request_id != self._last_override_request_id
limit = (target, self._assist.source)
reset = (mode_changed or limit != self._override_limit or self._assist.just_confirmed or
self._assist.state == SpeedLimitAssistState.preActive or
not bool(getattr(sm["selfdriveState"], "enabled", False)) or target <= 0 or self._resolved_source == "Construction")
cruise_speed = v_cruise + v_cruise_diff
above_limit = cruise_speed > target + offset + 1e-3
if reset or (self.override_slc and not above_limit):
self.reset_override(sm)
elif above_limit:
driver_increase = new_request and gesture_id != self._blocked_override_gesture and request_speed > target + offset + 1e-3
gas_override = sm["carState"].gasPressed and v_ego > target + offset
self.override_slc = self.override_slc or driver_increase or gas_override
self.overridden_speed = cruise_speed if self.override_slc else 0.0
self._last_override_request_id = request_id
self._override_limit = limit
return
if mode_changed:
self.reset_override(sm)
self.override_slc = self.overridden_speed > target + offset > 0
self.override_slc |= sm["carState"].gasPressed and v_ego > target + offset > 0
@@ -820,7 +860,5 @@ class SpeedLimitController:
if sm["carState"].gasPressed:
self.overridden_speed = max(v_ego + v_ego_diff, self.overridden_speed)
self.overridden_speed = float(np.clip(self.overridden_speed, target + offset, v_cruise + v_cruise_diff))
elif slc_params.get("speed_limit_controller_override_set_speed", False):
self.overridden_speed = v_cruise + v_cruise_diff
else:
self.overridden_speed = 0.0