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reduce processing and fix some timing issues #132

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Merged
pfeiferj merged 1 commit into from
Aug 18, 2026
Merged

reduce processing and fix some timing issues #132

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7 changes: 6 additions & 1 deletion main.go
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -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()
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6 changes: 6 additions & 0 deletions maps/way.go
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Expand Up @@ -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 {
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