From 73e61ae00f06f865a014698fc1b8dfb4fe23cbb3 Mon Sep 17 00:00:00 2001
From: Jacob Pfeifer <jacob@pfeifer.dev>
Date: Mon, 17 Aug 2026 19:46:27 -0400
Subject: [PATCH] reduce processing and fix some timing issues

---
 main.go     | 7 ++++++-
 maps/way.go | 6 ++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/main.go b/main.go
index e817e80..41aaccf 100644
--- a/main.go
+++ b/main.go
@@ -56,7 +56,13 @@ func main() {
 	selfdriveState := cereal.NewSubscriber("selfdriveState", cereal.SelfdriveStateReader, true, ms.Settings.SubscriberSettings.ShadowSelfdriveState)
 	defer selfdriveState.Sub.Msgq.Close()
 
+	lastLoopTime := time.Now()
+
 	for {
+		lastLoopDuration := time.Since(lastLoopTime)
+		time.Sleep(max(ms.LOOP_DELAY - lastLoopDuration, 0))
+		lastLoopTime = time.Now()
+
 		err := state.Send() // send beginning of each loop to ensure it happens at the correct rate
 		if err != nil {
 			slog.Error("Failed to send update", "error", err)
@@ -65,7 +71,6 @@ func main() {
 		if err != nil {
 			slog.Error("Failed to send extended update", "error", err)
 		}
-		time.Sleep(ms.LOOP_DELAY)
 
 		// handle settings inputs from openpilot/cli
 		input, inputSuccess := sub.Read()
diff --git a/maps/way.go b/maps/way.go
index 62c2b11..82f957a 100644
--- a/maps/way.go
+++ b/maps/way.go
@@ -344,6 +344,12 @@ func (w *Way) Hazard() string {
 func (w *Way) OnWay(location log.GpsLocationData, distanceMultiplier float32) (OnWayResult, error) {
 	res := OnWayResult{}
 	pos := m.NewPosition(location.Latitude(), location.Longitude())
+	box := w.Box()
+	oversizedBox := box.Overlap(0.01)
+	if !oversizedBox.PosInside(pos) {
+		res.OnWay = false
+		return res, nil
+	}
 	d, err := w.DistanceFrom(pos)
 	res.Distance = d
 	if err != nil {