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more desire changes

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This commit is contained in:
discountchubbs
2025-11-10 11:55:49 -08:00
parent aaac1c79d0
commit 799e819e58
2 changed files with 10 additions and 12 deletions
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sunnypilot/navd/navigation_desires/navigation_desires.py
+4 -6
View File
@@ -31,14 +31,12 @@ class NavigationDesires:
self.desire = log.Desire.none
if self.nav_allowed and nav_msg.valid and lateral_active:
upcoming = nav_msg.upcomingTurn
if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
if upcoming == 'slightLeft' and not CS.rightBlinker and not CS.leftBlindspot and CS.steeringPressed and CS.steeringTorque > 0:
self.desire = log.Desire.keepLeft
elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
elif upcoming == 'slightRight' and not CS.leftBlinker and not CS.rightBlindspot and CS.steeringPressed and CS.steeringTorque < 0:
self.desire = log.Desire.keepRight
elif (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit):
elif upcoming == 'left' and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
self.desire = log.Desire.turnLeft
elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker
and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit):
elif upcoming == 'right' and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
self.desire = log.Desire.turnRight
return self.desire
sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+6 -6
View File
@@ -22,20 +22,20 @@ def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False,
)
NAVIGATION_PARAMS: list[tuple] = [
('slightLeft', make_car(), log.Desire.keepLeft),
('slightRight', make_car(), log.Desire.keepRight),
('slightLeft', make_car(steeringPressed=True, steeringTorque=1), log.Desire.keepLeft),
('slightRight', make_car(steeringPressed=True, steeringTorque=-1), log.Desire.keepRight),
('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, steeringPressed=True, steeringTorque=1), log.Desire.turnLeft),
('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False, steeringPressed=True, steeringTorque=-1), log.Desire.turnRight),
('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
]
INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
(make_car(vEgo=9, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
(make_car(vEgo=9, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
(make_car(vEgo=6, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
(make_car(vEgo=5, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
(make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
(make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
(make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),