carrot
a523b38c76
* fix.. branch checkout * fix.. dynamicTFollow LC * lat suspend * canfd.. counter. Add Chinese to Carrotweb tool (#249), hyundai can parser update..
42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
from cereal import log
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from openpilot.common.constants import CV
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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TurnDirection = log.Desire
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LANE_CHANGE_SPEED_MIN = 30 * CV.KPH_TO_MS
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LANE_CHANGE_TIME_MAX = 10.0
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BLINKER_NONE = 0
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BLINKER_LEFT = 1
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BLINKER_RIGHT = 2
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BLINKER_BOTH = 3
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DESIRES = {
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LaneChangeDirection.none: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.none,
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LaneChangeState.laneChangeFinishing: log.Desire.none,
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},
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LaneChangeDirection.left: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
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},
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LaneChangeDirection.right: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
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},
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}
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TURN_DESIRES = {
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TurnDirection.none: log.Desire.none,
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TurnDirection.turnLeft: log.Desire.turnLeft,
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TurnDirection.turnRight: log.Desire.turnRight,
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}
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