github-actions[bot]
54e6124925
version: sunnypilot v2026.001.000 (dev) date: 2026-05-07T23:07:19 master commit: c28eb958740187620f2282023b8f1997cf90f583
45 lines
1.5 KiB
Python
45 lines
1.5 KiB
Python
"""
|
|
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.
|
|
"""
|
|
from cereal import car
|
|
|
|
from openpilot.common.constants import CV
|
|
from openpilot.common.params import Params
|
|
|
|
|
|
class BlinkerPauseLateral:
|
|
def __init__(self):
|
|
self.params = Params()
|
|
|
|
self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
|
|
self.is_metric = self.params.get_bool("IsMetric")
|
|
self.min_speed = 0
|
|
self.reengage_delay = 0
|
|
self.blinker_off_timer = 0.0
|
|
|
|
def get_params(self) -> None:
|
|
self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
|
|
self.is_metric = self.params.get_bool("IsMetric")
|
|
self.min_speed = self.params.get("BlinkerMinLateralControlSpeed", return_default=True)
|
|
self.reengage_delay = self.params.get("BlinkerLateralReengageDelay", return_default=True)
|
|
|
|
def update(self, CS: car.CarState, DT_CTRL: float = 0.01) -> bool:
|
|
if not self.enabled:
|
|
return False
|
|
|
|
one_blinker = CS.leftBlinker != CS.rightBlinker
|
|
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
|
min_speed_ms = self.min_speed * speed_factor
|
|
|
|
below_speed = CS.vEgo < min_speed_ms
|
|
|
|
if one_blinker and below_speed:
|
|
self.blinker_off_timer = self.reengage_delay
|
|
elif self.blinker_off_timer > 0:
|
|
self.blinker_off_timer -= DT_CTRL
|
|
|
|
return bool((one_blinker and below_speed) or self.blinker_off_timer > 0)
|