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fix. roadlimitspeed

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fix.. navInstruction speedLimit
This commit is contained in:
ajouatom 2025-02-25 15:31:13 +09:00
parent d770b4f578
commit 3687f7a012
3 changed files with 11 additions and 2 deletions
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9
selfdrive/carrot/carrot_man.py
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@ -847,6 +847,7 @@ class CarrotServ:
self.params_memory = Params("/dev/shm/params") self.params_memory = Params("/dev/shm/params")
self.nRoadLimitSpeed = 30 self.nRoadLimitSpeed = 30
self.nRoadLimitSpeed_counter = 0
self.active_carrot = 0 ## 1: CarrotMan Active, 2: sdi active , 3: speed decel active, 4: section active, 5: bump active, 6: speed limit active self.active_carrot = 0 ## 1: CarrotMan Active, 2: sdi active , 3: speed decel active, 4: section active, 5: bump active, 6: speed limit active
self.active_count = 0 self.active_count = 0
@ -1746,7 +1747,13 @@ class CarrotServ:
nRoadLimitSpeed = 30 nRoadLimitSpeed = 30
else: else:
nRoadLimitSpeed = 30 nRoadLimitSpeed = 30
self.nRoadLimitSpeed = nRoadLimitSpeed #self.nRoadLimitSpeed = nRoadLimitSpeed
if self.nRoadLimitSpeed != nRoadLimitSpeed:
self.nRoadLimitSpeed_counter += 1
if self.nRoadLimitSpeed_counter > 5:
self.nRoadLimitSpeed = nRoadLimitSpeed
else:
self.nRoadLimitSpeed_counter = 0
### SDI ### SDI
self.nSdiType = int(json.get("nSdiType", -1)) self.nSdiType = int(json.get("nSdiType", -1))

2
selfdrive/navd/navd.py
View File

@ -298,6 +298,8 @@ class RouteEngine:
if ('maxspeed' in closest.annotations) and self.localizer_valid: if ('maxspeed' in closest.annotations) and self.localizer_valid:
msg.navInstruction.speedLimit = closest.annotations['maxspeed'] msg.navInstruction.speedLimit = closest.annotations['maxspeed']
print(closest.annotations)
# Speed limit sign type # Speed limit sign type
if 'speedLimitSign' in step: if 'speedLimitSign' in step:

2
selfdrive/ui/carrot.cc
View File

@ -1155,7 +1155,7 @@ public:
const auto nav_inst = sm["navInstruction"].getNavInstruction(); const auto nav_inst = sm["navInstruction"].getNavInstruction();
xTurnInfo = 0; xTurnInfo = 0;
xDistToTurn = nav_inst.getManeuverDistance(); xDistToTurn = nav_inst.getManeuverDistance();
nRoadLimitSpeed = nav_inst.getSpeedLimit(); nRoadLimitSpeed = nav_inst.getSpeedLimit() * 3.6;
QString maneuverType = QString::fromStdString(nav_inst.getManeuverType()); QString maneuverType = QString::fromStdString(nav_inst.getManeuverType());
QString manuverModifier = QString::fromStdString(nav_inst.getManeuverModifier()); QString manuverModifier = QString::fromStdString(nav_inst.getManeuverModifier());
if (maneuverType == "turn") { if (maneuverType == "turn") {