From 48533d90e5322f0062b6b32e0d85c065ea9b4c80 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 24 Mar 2025 11:51:38 -0400 Subject: [PATCH] more explicit --- .../selfdrive/controls/lib/auto_lane_change.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py index e07be7e8e9..d2279b270f 100644 --- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py +++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py @@ -79,20 +79,23 @@ class AutoLaneChangeController: else: self.lane_change_wait_timer = self.lane_change_delay - 1 - def update_allowed(self) -> None: + def update_allowed(self) -> bool: # Auto lane change allowed if: # 1. A valid delay is set (non-zero) # 2. We've waited long enough # 3. Brake wasn't previously pressed - self.auto_lane_change_allowed = self.lane_change_set_timer not in (AutoLaneChangeState.OFF, AutoLaneChangeState.NUDGE) and \ - self.lane_change_wait_timer >= self.lane_change_delay and \ - not self.prev_brake_pressed + + if self.lane_change_set_timer in (AutoLaneChangeState.OFF, AutoLaneChangeState.NUDGE): + return False + + return self.lane_change_wait_timer > self.lane_change_delay and not self.prev_brake_pressed def update(self, blindspot_detected: bool, brake_pressed: bool) -> None: self._blindspot_detected = blindspot_detected self._brake_pressed = brake_pressed self.update_lane_change_timers() - self.update_allowed() + alc_allowed = self.update_allowed() + self.auto_lane_change_allowed = alc_allowed self.prev_brake_pressed = self._brake_pressed