Controls: Automatic lane change (#653)

* init alc controller

* only for sunny

* rebase fix

* ui

* add ui preview

* Update common/params_keys.h

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/SConscript

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

* review sugg

* code review

* renaming

* move around

* style

* fix types and params exceptions handling

* take out magic numbers

* more

* rename

* shorter

* make sure reset happens at the end of every DH loop

* split into multiple updates

* just 3 seconds

* use default states

* oops

* more readable

* oops

* some space and lines

* run in DH loop directly

* adjust ui preview

* nudgeless should process immediately

* check option instead

* more explicit

* even more explicit

* tests

* brake pedal release should not allow auto lane change (caught by test)

* unnecessary

* no continuous auto lane change

* Revert "unnecessary"

This reverts commit 93d135b54a812e94d23951ca8ea52ff944cfd29a.

* more tests

* less

* less less

* update again

* more cleanup

* better

* AutoLaneChangeState -> AutoLaneChangeMode

* update

* lint

* unused

* test all states

* license

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

common/params_keys.h

@@ -120,6 +120,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT},
+    {"AutoLaneChangeTimer", PERSISTENT},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},