move around

selfdrive/controls/lib/desire_helper.py

@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.alc import AutoLaneChangeController
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
 
 
 LaneChangeState = log.LaneChangeState
@@ -41,7 +41,7 @@ class DesireHelper:
     self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
-    self.lane_change_controller = AutoLaneChangeController(self)
+    self.alc = AutoLaneChangeController(self)
 
   def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
@@ -70,7 +70,7 @@ class DesireHelper:
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
-        auto_lane_change_allowed = self.lane_change_controller.update(blindspot_detected, carstate.brakePressed)
+        auto_lane_change_allowed = self.alc.update(blindspot_detected, carstate.brakePressed)
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off

sunnypilot/selfdrive/controls/lib/auto_lane_change.py

@@ -28,6 +28,11 @@ class AutoLaneChangeController:
     self.prev_brake_pressed = False
     self.read_param()
 
+  def reset(self):
+    self.lane_change_wait_timer = 0.0
+    self.prev_brake_pressed = False
+
+
   def read_param(self):
     self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
     self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
@@ -56,15 +61,8 @@ class AutoLaneChangeController:
     self.prev_brake_pressed = brake_pressed
 
     # Auto reset if parent state indicates we should
-    if (hasattr(self.desire_helper, 'lane_change_state') and
-          hasattr(self.desire_helper, 'lane_change_direction')):
-
-      if (self.desire_helper.lane_change_state == log.LaneChangeState.off and
-            self.desire_helper.lane_change_direction == log.LaneChangeDirection.none):
-        self.reset()
+    if (self.desire_helper.lane_change_state == log.LaneChangeState.off and
+          self.desire_helper.lane_change_direction == log.LaneChangeDirection.none):
+      self.reset()
 
     return auto_lane_change_allowed
-
-  def reset(self):
-    self.lane_change_wait_timer = 0.0
-    self.prev_brake_pressed = False