Lane change auto signal#5
Closed
SloPOS wants to merge 11 commits into
Closed
Conversation
Spec for automating turn-signal persistence during Pre-AP lane changes: short-tap arming, 7-flash budget, DAS_bodyControls blinker drive (Tinkla mechanism), and the "Nudge wheel within N signals" countdown. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Task-by-task TDD plan: cereal field, desire_helper flash latch, modeld publish, dynamic countdown alert, DAS_bodyControls turn-signal drive, and panda safety allowlist for 0x3E9. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
New UInt8 field (@10) carries the remaining-flashes countdown from desire_helper to the UI alert layer. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Short stalk tap arms preLaneChange and the latch now persists without the driver holding the stalk. Counts indicator flashes (rising edges of the armed-direction blinker) up to LANE_CHANGE_FLASH_BUDGET=7, exposing flashes_remaining for the UI countdown. Exits: wheel nudge -> start, budget exhausted -> cancel, opposite tap -> cancel. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Carries the DesireHelper flash countdown to selfdrived for the UI alert. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Replace the static preLaneChange alerts with callbacks that read modelV2.meta.laneChangeFlashesRemaining and render a live countdown. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Pulls in the Pre-AP turn-signal drive: create_body_controls_message, carcontroller consumer of CC blinker flags, and the 0x3E9 safety allowlist. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
So the auto-signal opendbc commits (DAS_bodyControls turn drive + 0x3E9 safety) resolve from a SloPOS-owned repo for anyone cloning this fork. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Replace the flash-counted budget with a 7s time budget (LANE_CHANGE_ARM_TIME) so the countdown advances reliably — Pre-AP BC_indicatorLStatus does not see the op-driven DAS_bodyControls flashes, so a flash counter froze. Add a same-direction tap queue (cap 3): each queued change needs its own wheel nudge; between changes the signal stays on and a fresh 7s window opens. Full reset to off when the queue empties, the window times out, the driver taps the opposite direction, or on blindspot/below-speed/disengage — fixes the stuck countdown toast after a completed lane change. cereal: rename laneChangeFlashesRemaining -> laneChangeSignalsRemaining and add laneChangeRemaining (queued changes left). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
modeld publishes the renamed laneChangeSignalsRemaining (time countdown) and laneChangeRemaining (queued changes). The preLaneChange alert shows the countdown and a second line "N more lane changes queued" when applicable. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Author
|
My bad |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
ignore this PR - appoligies