Merge branch 'SP-134-pause-lateral-speed' into master-dev-c3

CHANGELOGS.md

@@ -31,7 +31,7 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
   * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
   * NEW❗: New "Off" option to disable lane change by blinker
-* UPDATED: Pause Lateral Below Speed w/ Blinker
+* UPDATED: Pause Lateral Below Speed with Blinker
   * NEW❗: Customizable Pause Lateral Speed
     * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal

selfdrive/car/interfaces.py

@@ -18,7 +18,8 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction, get_min_lateral_speed
+from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 

selfdrive/controls/lib/desire_helper.py

@@ -43,6 +43,11 @@ AUTO_LANE_CHANGE_TIMER = {
 }
 
 
+def get_min_lateral_speed(value: int, is_metric: bool, default: float = LANE_CHANGE_SPEED_MIN):
+  speed: float = default if value == 0 else value * CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
+  return speed
+
+
 class DesireHelper:
   def __init__(self):
     self.lane_change_state = LaneChangeState.off

selfdrive/controls/lib/drive_helpers.py

@@ -5,7 +5,6 @@ from cereal import car, log, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_MDL, DT_CTRL
-from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -342,8 +341,3 @@ def get_road_edge(carstate, model_v2, toggle):
     road_edge = False
 
   return road_edge
-
-
-def get_min_lateral_speed(value: int, is_metric: bool, default: float = LANE_CHANGE_SPEED_MIN):
-  speed: float = default if value == 0 else value * CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
-  return speed