Lateral planner: Don't prompt/initiate lane changes if lateral control is not active (#25436)

* Don't set lane change events if we're not able to steer.

* more specific variable name

* update process replay socket config

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5b1ba4f135

selfdrive/controls/lib/desire_helper.py

@@ -40,12 +40,12 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.LateralPlan.Desire.none
 
-  def update(self, carstate, active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    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
     else:

selfdrive/controls/lib/lateral_planner.py

@@ -52,7 +52,7 @@ class LateralPlanner:
 
     # Lane change logic
     lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
-    self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob)
+    self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
     # Turn off lanes during lane change
     if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:

selfdrive/controls/plannerd.py

@@ -25,7 +25,7 @@ def plannerd_thread(sm=None, pm=None):
   lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
+    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                              poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   if pm is None:

selfdrive/test/process_replay/process_replay.py

@@ -280,7 +280,7 @@ CONFIGS = [
     proc_name="plannerd",
     pub_sub={
       "modelV2": ["lateralPlan", "longitudinalPlan"],
-      "carState": [], "controlsState": [], "radarState": [],
+      "carControl": [], "carState": [], "controlsState": [], "radarState": [],
     },
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
     init_callback=get_car_params,