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https://github.com/sunnypilot/sunnypilot.git
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b3878fb211
* Delay lateral reengagement * UI elements * Add tests * Update title and description * Update params_metadata * Didn't mean to pass this to int() * Keep sentry happy * Title and description update * always 100 hz --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
45 lines
1.5 KiB
Python
45 lines
1.5 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import car
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from openpilot.common.constants import CV
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from openpilot.common.params import Params
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class BlinkerPauseLateral:
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def __init__(self):
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self.params = Params()
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self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
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self.is_metric = self.params.get_bool("IsMetric")
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self.min_speed = 0
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self.reengage_delay = 0
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self.blinker_off_timer = 0.0
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def get_params(self) -> None:
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self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
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self.is_metric = self.params.get_bool("IsMetric")
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self.min_speed = self.params.get("BlinkerMinLateralControlSpeed", return_default=True)
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self.reengage_delay = self.params.get("BlinkerLateralReengageDelay", return_default=True)
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def update(self, CS: car.CarState, DT_CTRL: float = 0.01) -> bool:
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if not self.enabled:
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return False
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one_blinker = CS.leftBlinker != CS.rightBlinker
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speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
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min_speed_ms = self.min_speed * speed_factor
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below_speed = CS.vEgo < min_speed_ms
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if one_blinker and below_speed:
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self.blinker_off_timer = self.reengage_delay
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elif self.blinker_off_timer > 0:
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self.blinker_off_timer -= DT_CTRL
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return bool((one_blinker and below_speed) or self.blinker_off_timer > 0)
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