sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/sunnypilot/mapd/live_map_data/debug.py

@@ -0,0 +1,56 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from openpilot.cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  while True:
+    live_map_data_sp_thread_debug(gps_location_service)
+
+
+def live_map_data_sp_thread_debug(gps_location_service):
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
+  _sub_master.update()
+
+  v_ego = _sub_master['carState'].vEgo
+  _resolver = SpeedLimitResolver()
+  _resolver.policy = Policy.car_state_priority
+  _resolver.update(v_ego, _sub_master)
+  print(_resolver.speed_limit, _resolver.distance, _resolver.source)
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()