github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
48 lines
1.8 KiB
Python
48 lines
1.8 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 openpilot.cereal import custom
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from openpilot.common.constants import CV
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from openpilot.common.params import Params
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TurnDirection = custom.ModelDataV2SP.TurnDirection
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LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
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class LaneTurnController:
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def __init__(self, desire_helper):
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self.DH = desire_helper
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self.turn_direction = TurnDirection.none
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self.params = Params()
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self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
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self.param_read_counter = 0
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self.enabled = self.params.get_bool("LaneTurnDesire")
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def read_params(self):
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self.enabled = self.params.get_bool("LaneTurnDesire")
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value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
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self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
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def update_params(self) -> None:
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if self.param_read_counter % 50 == 0:
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self.read_params()
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self.param_read_counter += 1
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def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
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if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
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self.turn_direction = TurnDirection.turnLeft
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elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
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self.turn_direction = TurnDirection.turnRight
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else:
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self.turn_direction = TurnDirection.none
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def get_turn_direction(self):
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if not self.enabled:
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return TurnDirection.none
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return self.turn_direction
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