From 7a286d2f52c15ee797752b61ef32779192b8e9e4 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 17 May 2024 04:57:44 +0000 Subject: [PATCH] Controlsd: Remove unused code and `leadDistanceBar` parsing with SP values --- selfdrive/controls/controlsd.py | 30 +----------------------------- 1 file changed, 1 insertion(+), 29 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 32407f97a0..48eddc7b84 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -209,34 +209,6 @@ class Controls: if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled - def get_road_edge(self, carstate, model_v2): - # Lane detection by FrogAi - one_blinker = carstate.leftBlinker != carstate.rightBlinker - if not self.edge_toggle: - self.road_edge = False - elif one_blinker: - # Set the minimum lane threshold to 3.0 meters - min_lane_threshold = 3.0 - # Set the blinker index based on which signal is on - blinker_index = 0 if carstate.leftBlinker else 1 - desired_edge = model_v2.roadEdges[blinker_index] - current_lane = model_v2.laneLines[blinker_index + 1] - # Check if both the desired lane and the current lane have valid x and y values - if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x): - # Interpolate the x and y values to the same length - x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x)) - lane_y = np.interp(x, current_lane.x, current_lane.y) - desired_y = np.interp(x, desired_edge.x, desired_edge.y) - # Calculate the width of the lane we're wanting to change into - lane_width = np.abs(desired_y - lane_y) - # Set road_edge to False if the lane width is not larger than the threshold - self.road_edge = not (np.amax(lane_width) > min_lane_threshold) - else: - self.road_edge = True - else: - # Default to setting "road_edge" to False - self.road_edge = False - def update_events(self, CS): """Compute onroadEvents from carState""" @@ -795,7 +767,7 @@ class Controls: hudControl.speedVisible = self.enabled_long hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead - hudControl.leadDistanceBars = self.personality + 1 + hudControl.leadDistanceBars = PERSONALITY_MAPPING.get(self.personality, log.LongitudinalPersonality.standard) + 1 hudControl.rightLaneVisible = True hudControl.leftLaneVisible = True