From 89e28560c02ad8da0646601fd8936381f093a1ff Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 27 Jun 2023 23:43:09 -0400 Subject: [PATCH] Lateral Planner: read params every 2.5 second (#197) * Lateral Planner: read params every 2.5 second * Check every 2.5 second * add all params here --- selfdrive/controls/lib/desire_helper.py | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 6c7e614e96..f1e248355f 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -54,21 +54,26 @@ class DesireHelper: self.lane_change_wait_timer = 0 self.prev_lane_change = False self.road_edge = False - self.count = 0 + self.param_read_counter = 0 + self.read_param() + self.edge_toggle = self.param_s.get("RoadEdge") + self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) + self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") + + def read_param(self): self.edge_toggle = self.param_s.get("RoadEdge") self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay") def update(self, carstate, lateral_active, lane_change_prob, model_data): - self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8")) + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 lane_change_auto_timer = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer, 2.0) v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN - if self.count % 200 == 0: - self.edge_toggle = self.param_s.get("RoadEdge") - # Lane detection by FrogAi if not self.edge_toggle: self.road_edge = False @@ -177,5 +182,3 @@ class DesireHelper: self.keep_pulse_timer = 0.0 elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): self.desire = log.LateralPlan.Desire.none - - self.count += DT_MDL