mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-04-07 08:03:59 +08:00
Code Issues Packages Projects Releases Wiki Activity

some

Browse Source
This commit is contained in:
James Vecellio
2025-11-10 22:12:07 -08:00
parent 969b0e9fcf
commit 268dbb3193
1 changed files with 4 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
sunnypilot/navd/navigationd.py
View File

@@ -77,12 +77,11 @@ class Navigationd:
self.valid = self.route is not None
def _update_navigation(self) -> tuple[str, dict | None, dict]:
def _update_navigation(self, v_ego) -> tuple[str, dict | None, dict]:
banner_instructions: str = ''
nav_data: dict = {}
if self.allow_navigation and self.last_position is not None:
if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
v_ego = max(self.sm['carState'].vEgo, 0.)
nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude,
self.last_position.longitude, v_ego)
nav_data['current_speed_limit'] = self.nav_instructions.get_current_speed_limit_from_progress(progress, self.is_metric)
@@ -111,8 +110,7 @@ class Navigationd:
# Don't recompute in last segment to prevent reroute loops
if self.route:
if progress['current_step_idx'] == len(self.route['steps']) - 1:
self.recompute_allowed = False
self.allow_navigation = False
self.reroute_counter = 0
else:
banner_instructions = ''
progress = None
@@ -145,6 +143,7 @@ class Navigationd:
while True:
self.sm.update(0)
v_ego = self.sm['carState'].vEgo
location = self.sm['liveLocationKalman']
localizer_valid = location.positionGeodetic.valid if location else False
@@ -153,7 +152,7 @@ class Navigationd:
self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
self._update_params()
banner_instructions, progress, nav_data = self._update_navigation()
banner_instructions, progress, nav_data = self._update_navigation(v_ego)
msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)