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2024-02-05 01:15:52 -06:00
parent 072ed7e50f
commit a81f6285c1
5 changed files with 62 additions and 47 deletions
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10
selfdrive/controls/controlsd.py
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@@ -343,11 +343,11 @@ class Controls:
# self.events.add(EventName.laneChange)
# Handle turning
# if not CS.standstill:
# if self.sm['lateralPlan'].desire == Desire.turnLeft:
# self.events.add(FrogPilotEventName.turningLeft)
# elif self.sm['lateralPlan'].desire == Desire.turnRight:
# self.events.add(FrogPilotEventName.turningRight)
if not CS.standstill:
if self.sm['lateralPlan'].desire == Desire.turnLeft:
self.events.add(FrogPilotEventName.turningLeft)
elif self.sm['lateralPlan'].desire == Desire.turnRight:
self.events.add(FrogPilotEventName.turningRight)
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

6
selfdrive/controls/lib/desire_helper.py
View File

@@ -91,11 +91,11 @@ class DesireHelper:
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
# elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires:
elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires:
# BBOT
# self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
# Set the "turn_completed" flag to prevent lane changes after completing a turn
# self.turn_completed = True
self.turn_completed = True
else:
# TurnDirection.turnLeft / turnRight
self.turn_direction = TurnDirection.none

2
selfdrive/controls/lib/events.py
View File

@@ -231,7 +231,7 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
if "REPLAY" in os.environ:
branch = "replay"
return StartupAlert("Hippity hoppity this is my property", "so I do what I want 🐸", alert_status=AlertStatus.frogpilot)
return StartupAlert("Openpilot Ready", "", alert_status=AlertStatus.frogpilot)
def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")