From bf41202cab54537194cca8b20c110cd45ba7b35c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 29 May 2024 08:43:12 -0400
Subject: [PATCH] Auto Lane Change: Add option to disable lane change

---
 selfdrive/controls/controlsd.py                    |  2 --
 selfdrive/controls/lib/desire_helper.py            |  3 ++-
 .../qt/offroad/sunnypilot/lane_change_settings.cc  | 14 ++++++++------
 3 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a0da74f930..171daf091b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -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")
 
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 6cac8a70e2..d6eec9b603 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -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
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc
index e24425a6fc..94d57c5e2c 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/lane_change_settings.cc
@@ -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"));