diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 978c386530..19ab2da214 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/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: diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index dda4f18a49..29dfc77111 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/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: diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 06807b2a5c..ca7523f2ee 100755 --- a/selfdrive/controls/plannerd.py +++ b/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: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 0c642cde17..32a3c2f3bb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/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,