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Auto Lane Change: Add option to disable lane change

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This commit is contained in:
Jason Wen
2024-05-29 08:43:12 -04:00
parent 5351420a72
commit bf41202cab
3 changed files with 10 additions and 9 deletions
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selfdrive/controls/controlsd.py
-2
View File
@@ -167,7 +167,6 @@ class Controls:
self.nn_alert_shown = False
self.enable_nnff = self.params.get_bool("NNFF")
self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
self.reverse_acc_change = False
self.dynamic_experimental_control = False
@@ -935,7 +934,6 @@ class Controls:
if self.CP.notCar:
self.joystick_mode = self.params.get_bool("JoystickDebugMode")
self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
selfdrive/controls/lib/desire_helper.py
+2 -1
View File
@@ -34,6 +34,7 @@ DESIRES = {
}
AUTO_LANE_CHANGE_TIMER = {
-1: 0.0,
0: 0.0,
1: 0.1,
2: 0.5,
@@ -84,7 +85,7 @@ class DesireHelper:
if self.model_use_lateral_planner:
self.road_edge = get_road_edge(carstate, model_data, self.edge_toggle)
if not carstate.madsEnabled or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
if not carstate.madsEnabled or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.lane_change_set_timer == -1:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.prev_lane_change = False
selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc
+8 -6
View File
@@ -64,7 +64,7 @@ void LaneChangeSettings::updateToggles() {
}
auto auto_lane_change_bsm_delay_toggle = toggles["AutoLaneChangeBsmDelay"];
auto auto_lane_change_timer_param = QString::fromStdString(params.get("AutoLaneChangeTimer"));
auto auto_lane_change_timer_param = std::atoi(params.get("AutoLaneChangeTimer").c_str());
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
@@ -75,7 +75,7 @@ void LaneChangeSettings::updateToggles() {
if (!CP.getEnableBsm()) {
params.remove("AutoLaneChangeBsmDelay");
}
auto_lane_change_bsm_delay_toggle->setEnabled(CP.getEnableBsm() && auto_lane_change_timer_param != "0");
auto_lane_change_bsm_delay_toggle->setEnabled(CP.getEnableBsm() && (auto_lane_change_timer_param > 0));
auto_lane_change_bsm_delay_toggle->refresh();
} else {
@@ -86,10 +86,10 @@ void LaneChangeSettings::updateToggles() {
// Auto Lane Change Timer (ALCT)
AutoLaneChangeTimer::AutoLaneChangeTimer() : SPOptionControl (
"AutoLaneChangeTimer",
tr("Auto Lane Change Timer"),
tr("Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set.\nPlease use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
tr("Auto Lane Change"),
tr("Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.\nPlease use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
"../assets/offroad/icon_blank.png",
{0, 5}) {
{-1, 5}) {
refresh();
}
@@ -97,7 +97,9 @@ AutoLaneChangeTimer::AutoLaneChangeTimer() : SPOptionControl (
void AutoLaneChangeTimer::refresh() {
QString option = QString::fromStdString(params.get("AutoLaneChangeTimer"));
QString second = tr("s");
if (option == "0") {
if (option == "-1") {
setLabel(tr("Off"));
} else if (option == "0") {
setLabel(tr("Nudge"));
} else if (option == "1") {
setLabel(tr("Nudgeless"));