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2024-04-29 20:02:20 -05:00
parent e3b5a88027
commit 3733baa671
1 changed files with 24 additions and 22 deletions
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46
selfdrive/controls/controlsd.py
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@@ -309,28 +309,30 @@ class Controls:
self.events.add(EventName.calibrationInvalid) self.events.add(EventName.calibrationInvalid)
# Handle lane change # Handle lane change
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: # CLEARPILOT - Disabled lane change helper
direction = self.sm['modelV2'].meta.laneChangeDirection # CLEARPILOT TODO: Make this a toggle
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ # if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
(CS.rightBlindspot and direction == LaneChangeDirection.right): # direction = self.sm['modelV2'].meta.laneChangeDirection
if self.loud_blindspot_alert: # if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
self.events.add(EventName.laneChangeBlockedLoud) # (CS.rightBlindspot and direction == LaneChangeDirection.right):
else: # if self.loud_blindspot_alert:
self.events.add(EventName.laneChangeBlocked) # self.events.add(EventName.laneChangeBlockedLoud)
else: # else:
if direction == LaneChangeDirection.left: # self.events.add(EventName.laneChangeBlocked)
if self.sm['frogpilotPlan'].laneWidthLeft >= self.lane_detection_width: # else:
self.events.add(EventName.preLaneChangeLeft) # if direction == LaneChangeDirection.left:
else: # if self.sm['frogpilotPlan'].laneWidthLeft >= self.lane_detection_width:
self.events.add(EventName.noLaneAvailable) # self.events.add(EventName.preLaneChangeLeft)
else: # else:
if self.sm['frogpilotPlan'].laneWidthRight >= self.lane_detection_width: # self.events.add(EventName.noLaneAvailable)
self.events.add(EventName.preLaneChangeRight) # else:
else: # if self.sm['frogpilotPlan'].laneWidthRight >= self.lane_detection_width:
self.events.add(EventName.noLaneAvailable) # self.events.add(EventName.preLaneChangeRight)
elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, # else:
LaneChangeState.laneChangeFinishing): # self.events.add(EventName.noLaneAvailable)
self.events.add(EventName.laneChange) # elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
# LaneChangeState.laneChangeFinishing):
# self.events.add(EventName.laneChange)
for i, pandaState in enumerate(self.sm['pandaStates']): 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 # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput