Auto Lane Change Timer: cleaner method (commaai#196)

selfdrive/controls/controlsd.py

@@ -194,6 +194,7 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
+    self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
     self.reverse_acc_change = False
 
     self.live_torque = self.params.get_bool("LiveTorque")
@@ -317,7 +318,6 @@ def update_events(self, CS):
         self.events.add(EventName.calibrationInvalid)
 
     # Handle lane change
-    lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
     if self.sm['lateralPlan'].laneChangeEdgeBlock:
       self.events.add(EventName.laneChangeRoadEdge)
     elif self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
@@ -328,10 +328,10 @@ def update_events(self, CS):
         self.events.add(EventName.laneChangeBlocked)
       else:
         if direction == LaneChangeDirection.left:
-          self.events.add(EventName.preLaneChangeLeft) if lane_change_set_timer == 0 or lc_prev else \
+          self.events.add(EventName.preLaneChangeLeft) if self.lane_change_set_timer == 0 or lc_prev else \
             self.events.add(EventName.laneChange)
         else:
-          self.events.add(EventName.preLaneChangeRight) if lane_change_set_timer == 0 or lc_prev else \
+          self.events.add(EventName.preLaneChangeRight) if self.lane_change_set_timer == 0 or lc_prev else \
             self.events.add(EventName.laneChange)
     elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
                                                     LaneChangeState.laneChangeFinishing):
@@ -900,6 +900,7 @@ def step(self):
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
+    self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
     self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
 
     # Sample data from sockets and get a carState

selfdrive/controls/lib/desire_helper.py

@@ -31,6 +31,14 @@
   },
 }
 
+AUTO_LANE_CHANGE_TIMER = {
+  0: 0.0,
+  1: 0.1,
+  2: 0.5,
+  3: 1.0,
+  4: 1.5,
+}
+
 
 class DesireHelper:
   def __init__(self):
@@ -48,13 +56,12 @@ def __init__(self):
     self.road_edge = False
     self.count = 0
     self.edge_toggle = self.param_s.get("RoadEdge")
+    self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
     self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
 
   def update(self, carstate, lateral_active, lane_change_prob, model_data):
-    lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
-    lane_change_auto_timer = 0.0 if lane_change_set_timer == 0 else 0.1 if lane_change_set_timer == 1 else \
-                             0.5 if lane_change_set_timer == 2 else 1.0 if lane_change_set_timer == 3 else \
-                             1.5 if lane_change_set_timer == 4 else 2.0
+    self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
+    lane_change_auto_timer = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer, 2.0)
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN