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>

system/manager/manager.py

@@ -43,6 +43,8 @@ def manager_init() -> None:
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("AutoLaneChangeTimer", "0"),
+    ("AutoLaneChangeBsmDelay", "0"),
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),