Add LaneChangeEnabled param and settings toggle (#1093)

* add LaneChangeEnabled param and settings toggle

* Read lane change toggle in pathplanner.py

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

apk/ai.comma.plus.offroad.apk

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7a1c034720cf6ef0d4bcf4b379f74e21a6c5ca46188e931d0271b2f8ddbd85d7
+oid sha256:f1914296d2285d918a86e8264e46ce38d01b7082ddbd7a2e5ca4096439433e18
-size 13643317
+size 13644580

common/params.py

@@ -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],

selfdrive/controls/lib/pathplanner.py

@@ -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:

selfdrive/manager.py

@@ -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: