From 3733baa6712cc70ac379350464d6f4db0af5cbd8 Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 29 Apr 2024 20:02:20 -0500 Subject: [PATCH] wip --- selfdrive/controls/controlsd.py | 46 +++++++++++++++++---------------- 1 file changed, 24 insertions(+), 22 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b3adedb..e80ece8 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -309,28 +309,30 @@ class Controls: self.events.add(EventName.calibrationInvalid) # Handle lane change - if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['modelV2'].meta.laneChangeDirection - if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ - (CS.rightBlindspot and direction == LaneChangeDirection.right): - if self.loud_blindspot_alert: - self.events.add(EventName.laneChangeBlockedLoud) - else: - self.events.add(EventName.laneChangeBlocked) - else: - if direction == LaneChangeDirection.left: - if self.sm['frogpilotPlan'].laneWidthLeft >= self.lane_detection_width: - self.events.add(EventName.preLaneChangeLeft) - else: - self.events.add(EventName.noLaneAvailable) - else: - if self.sm['frogpilotPlan'].laneWidthRight >= self.lane_detection_width: - self.events.add(EventName.preLaneChangeRight) - else: - self.events.add(EventName.noLaneAvailable) - elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, - LaneChangeState.laneChangeFinishing): - self.events.add(EventName.laneChange) + # CLEARPILOT - Disabled lane change helper + # CLEARPILOT TODO: Make this a toggle + # if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: + # direction = self.sm['modelV2'].meta.laneChangeDirection + # if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ + # (CS.rightBlindspot and direction == LaneChangeDirection.right): + # if self.loud_blindspot_alert: + # self.events.add(EventName.laneChangeBlockedLoud) + # else: + # self.events.add(EventName.laneChangeBlocked) + # else: + # if direction == LaneChangeDirection.left: + # if self.sm['frogpilotPlan'].laneWidthLeft >= self.lane_detection_width: + # self.events.add(EventName.preLaneChangeLeft) + # else: + # self.events.add(EventName.noLaneAvailable) + # else: + # if self.sm['frogpilotPlan'].laneWidthRight >= self.lane_detection_width: + # self.events.add(EventName.preLaneChangeRight) + # else: + # self.events.add(EventName.noLaneAvailable) + # elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, + # LaneChangeState.laneChangeFinishing): + # self.events.add(EventName.laneChange) for i, pandaState in enumerate(self.sm['pandaStates']): # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput