From adf844eb305388a9fc20c3d12e61b2e8d1508001 Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Sun, 19 Feb 2023 22:04:35 -0500
Subject: [PATCH] move-fast: v-tsc fix (#40)

---
 selfdrive/controls/lib/lateral_planner.py        |  4 ++++
 selfdrive/controls/lib/vision_turn_controller.py | 11 ++++++-----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index fd02468b79..030de797ff 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -41,6 +41,7 @@ class LateralPlanner:
     self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
     self.t_idxs = np.arange(TRAJECTORY_SIZE)
     self.y_pts = np.zeros(TRAJECTORY_SIZE)
+    self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
 
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))
@@ -181,6 +182,9 @@ class LateralPlanner:
     lateralPlan.dynamicLaneProfile = int(self.dynamic_lane_profile)
     lateralPlan.dynamicLaneProfileStatus = bool(self.dynamic_lane_profile_status)
 
+    lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
+    lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
+
     if self.standstill:
       self.standstill_elapsed += DT_MDL
     else:
diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py
index e267f98d5b..76dc7cb52c 100644
--- a/selfdrive/controls/lib/vision_turn_controller.py
+++ b/selfdrive/controls/lib/vision_turn_controller.py
@@ -6,7 +6,7 @@ from common.params import Params
 from common.realtime import sec_since_boot
 from common.conversions import Conversions as CV
 from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 
 _MIN_V = 5.6  # Do not operate under 20km/h
@@ -186,10 +186,11 @@ class VisionTurnController():
         c_y = width_pts / 2 + lll_y
         path_poly = np.polyfit(ll_x, c_y, 3)
 
-    # 2. If not polynomial derived from lanes, then derive it from driving path as provided by `lateralPlanner`.
-    if path_poly is None and lat_planner_data is not None and len(lat_planner_data.psis) == CONTROL_N \
-       and lat_planner_data.dPathPoints[0] > 0:
-      path_poly = np.polyfit(lat_planner_data.psis, lat_planner_data.dPathPoints, 3)
+    # 2. If not polynomial derived from lanes, then derive it from compensated driving path with lanes as
+    # provided by `lateralPlanner`.
+    if path_poly is None and lat_planner_data is not None and len(lat_planner_data.dPathWLinesX) > 0 \
+       and lat_planner_data.dPathWLinesX[0] > 0:
+      path_poly = np.polyfit(lat_planner_data.dPathWLinesX, lat_planner_data.dPathWLinesY, 3)
 
     # 3. If no polynomial derived from lanes or driving path, then provide a straight line poly.
     if path_poly is None: