Enable relc for stock modeld

selfdrive/modeld/modeld.py

@@ -28,6 +28,7 @@ from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path,
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -223,6 +224,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -325,7 +327,10 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/sunnylink/params_metadata.json

@@ -1132,7 +1132,7 @@
   },
   "RoadEdgeLaneChangeEnabled": {
     "title": "Block Lane Change: Road Edge Detection",
-    "description": ""
+    "description": "Blocks lane changes when the model sees a road edge on the signaled side."
   },
   "RoadName": {
     "title": "Road Name",

sunnypilot/sunnylink/settings_ui.json

@@ -537,6 +537,12 @@
                   "value": 0
                 }
               ]
+            },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks the lane change if the model sees a road edge on your signaled side."
             }
           ]
         }

sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml

@@ -255,3 +255,7 @@ sections:
       key: AutoLaneChangeTimer
       op: '>'
       value: 0
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks the lane change if the model sees a road edge on your signaled side.