mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-08 04:15:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

use default states

Browse Source
This commit is contained in:
Jason Wen
2025-03-24 00:23:19 -04:00
parent aecd1cca7a
commit 4c5ff671bb
1 changed files with 21 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+21 -22
View File
@@ -4,32 +4,31 @@ 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 enum import IntEnum
from cereal import log
from openpilot.common.realtime import DT_MDL
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL
class AutoLaneChangeState(IntEnum):
class AutoLaneChangeState:
OFF = -1
NUDGE = 0
NUDGE = 0 # default
NUDGELESS = 1
HALF_SECOND = 2
ONE_SECOND = 3
ONE_POINT_FIVE_SECOND = 4
TWO_SECONDS = 5
THREE_SECONDS = 6 # default
THREE_SECONDS = 6
AUTO_LANE_CHANGE_TIMER = {
AutoLaneChangeState.OFF: 0.0, # Off
AutoLaneChangeState.NUDGE: 0.0, # Nudge
AutoLaneChangeState.NUDGELESS: 0.1, # Nudgeless
AutoLaneChangeState.HALF_SECOND: 0.5, # 0.5-second delay
AutoLaneChangeState.ONE_SECOND: 1.0, # 1-second delay
AutoLaneChangeState.TWO_SECONDS: 2.0, # 2-second delay
AutoLaneChangeState.THREE_SECONDS: 3.0, # 3-second delay
AutoLaneChangeState.OFF: 0.0, # Off
AutoLaneChangeState.NUDGE: 0.0, # Nudge
AutoLaneChangeState.NUDGELESS: 0.1, # Nudgeless
AutoLaneChangeState.HALF_SECOND: 0.5, # 0.5-second delay
AutoLaneChangeState.ONE_SECOND: 1.0, # 1-second delay
AutoLaneChangeState.TWO_SECONDS: 2.0, # 2-second delay
AutoLaneChangeState.THREE_SECONDS: 3.0, # 3-second delay
}
TIMER_DISABLED = -1
@@ -44,20 +43,20 @@ class AutoLaneChangeController:
self.lane_change_set_timer = AutoLaneChangeState.NUDGE
self.lane_change_bsm_delay = False
self.prev_brake_pressed = False
self.lane_change_delay = 0.0
self.lane_change_delay = 0
self._blindspot_detected = False
self._brake_pressed = False
self.auto_lane_change_allowed = False
self.read_params()
def reset(self):
def reset(self) -> None:
# Auto reset if parent state indicates we should
if self.DH.lane_change_state == log.LaneChangeState.off and \
self.DH.lane_change_direction == log.LaneChangeDirection.none:
self.lane_change_wait_timer = 0.0
self.prev_brake_pressed = False
def read_params(self):
def read_params(self) -> None:
self.param_read_counter += 1
if self.param_read_counter % 50 == 0:
self.lane_change_bsm_delay = self.params.get_bool("AutoLaneChangeBsmDelay")
@@ -66,19 +65,19 @@ class AutoLaneChangeController:
except (ValueError, TypeError):
self.lane_change_set_timer = AutoLaneChangeState.NUDGE
def update_lane_change_timers(self):
def update_lane_change_timers(self) -> None:
self.lane_change_delay = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.THREE_SECONDS])
AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGE])
self.lane_change_wait_timer += DT_MDL
if self.lane_change_bsm_delay and self._blindspot_detected and self.lane_change_delay:
if self.lane_change_bsm_delay and self._blindspot_detected and self.lane_change_delay > 0:
if self.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGELESS]:
self.lane_change_wait_timer = TIMER_DISABLED
else:
self.lane_change_wait_timer = self.lane_change_delay - 1
def update_allowed(self):
def update_allowed(self) -> None:
# Auto lane change allowed if:
# 1. A valid delay is set (non-zero)
# 2. We've waited long enough
@@ -87,11 +86,11 @@ class AutoLaneChangeController:
self.lane_change_wait_timer > self.lane_change_delay and \
not self.prev_brake_pressed
def update(self, blindspot_detected: bool, brake_pressed: bool):
self.read_params()
def update(self, blindspot_detected: bool, brake_pressed: bool) -> None:
self._blindspot_detected = blindspot_detected
self._brake_pressed = brake_pressed
self.read_params()
self.update_lane_change_timers()
self.update_allowed()