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desire handling

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discountchubbs
2025-10-23 19:12:34 -07:00
parent 7b28c2f59a
commit 9fbef36c6b
2 changed files with 10 additions and 4 deletions
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sunnypilot/navd/navigation_desires/navigation_desires.py
+3 -3
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@@ -1,5 +1,5 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
@@ -35,9 +35,9 @@ class NavigationDesires:
self.desire = log.Desire.keepLeft
elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
self.desire = log.Desire.keepRight
elif upcoming == 'left' and CS.leftBlinker 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.rightBlinker 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
def get_desire(self) -> log.Desire:
sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+7 -1
View File
@@ -1,3 +1,9 @@
"""
Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import pytest
import types
@@ -21,7 +27,7 @@ NAVIGATION_PARAMS: list[tuple] = [
('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), log.Desire.turnLeft),
('left', make_car(vEgo=5, leftBlinker=False), log.Desire.none),
('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
('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),