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Add LaneChangeEnabled param and settings toggle (#1093)

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* add LaneChangeEnabled param and settings toggle

* Read lane change toggle in pathplanner.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

old-commit-hash: 45718d9294
This commit is contained in:
Andrew Valish
2020-02-14 15:24:59 -08:00
committed by GitHub
parent e166ccac4d
commit e46e9ada22
4 changed files with 8 additions and 3 deletions
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4
apk/ai.comma.plus.offroad.apk
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7a1c034720cf6ef0d4bcf4b379f74e21a6c5ca46188e931d0271b2f8ddbd85d7
size 13643317
oid sha256:f1914296d2285d918a86e8264e46ce38d01b7082ddbd7a2e5ca4096439433e18
size 13644580

1
common/params.py
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@@ -81,6 +81,7 @@ keys = {
"LiveParameters": [TxType.PERSISTENT],
"LongitudinalControl": [TxType.PERSISTENT],
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
"LaneChangeEnabled": [TxType.PERSISTENT],
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],

4
selfdrive/controls/lib/pathplanner.py
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@@ -6,6 +6,7 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
from selfdrive.controls.lib.lane_planner import LanePlanner
from selfdrive.config import Conversions as CV
from common.params import Params
import cereal.messaging as messaging
from cereal import log
@@ -53,6 +54,7 @@ class PathPlanner():
self.setup_mpc()
self.solution_invalid_cnt = 0
self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
@@ -97,7 +99,7 @@ class PathPlanner():
elif sm['carState'].rightBlinker:
self.lane_change_direction = LaneChangeDirection.right
if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker):
if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
else:

2
selfdrive/manager.py
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@@ -502,6 +502,8 @@ def main():
params.put("LastUpdateTime", t.encode('utf8'))
if params.get("OpenpilotEnabledToggle") is None:
params.put("OpenpilotEnabledToggle", "1")
if params.get("LaneChangeEnabled") is None:
params.put("LaneChangeEnabled", "1")
# is this chffrplus?
if os.getenv("PASSIVE") is not None: