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Nue #3

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merged 3 commits into from
Oct 20, 2018
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Nue #3

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4b956e9
Merge pull request #1 from arne182/release2
reyescuba Oct 20, 2018
214136c
Debug mode always enabled
arne182 Oct 20, 2018
cd30504
Merge pull request #2 from arne182/patch-3
reyescuba Oct 20, 2018
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47 changes: 24 additions & 23 deletions selfdrive/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -239,32 +239,33 @@ def update(self, sendcan, enabled, CS, frame, actuators,
if BLINDSPOTDEBUG:
self.blindspot_poll_counter += 1
if self.blindspot_poll_counter > 1000: # 10 seconds after start
if CS.left_blinker_on:
self.blindspot_blink_counter_left += 1
#print "debug Left Blinker on"
elif CS.right_blinker_on:
self.blindspot_blink_counter_right += 1
else:
self.blindspot_blink_counter_left = 0
self.blindspot_blink_counter_right = 0
#print "debug Left Blinker off"
if self.blindspot_debug_enabled_left:
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
self.blindspot_debug_enabled_left = False
#print "debug Left blindspot debug disabled"
if self.blindspot_debug_enabled_right:
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
self.blindspot_debug_enabled_right = False
#print "debug Right blindspot debug disabled"
if self.blindspot_blink_counter_left > 199 and not self.blindspot_debug_enabled_left: #After 2 seconds of blinking check blindspot
#if CS.left_blinker_on:
self.blindspot_blink_counter_left += 1
#print "debug Left Blinker on"
#elif CS.right_blinker_on:
self.blindspot_blink_counter_right += 1
#else:
# self.blindspot_blink_counter_left = 0
# self.blindspot_blink_counter_right = 0
# #print "debug Left Blinker off"
# if self.blindspot_debug_enabled_left:
# can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
# self.blindspot_debug_enabled_left = False
# #print "debug Left blindspot debug disabled"
# if self.blindspot_debug_enabled_right:
# can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
# self.blindspot_debug_enabled_right = False
# #print "debug Right blindspot debug disabled"

if not self.blindspot_debug_enabled_left: #enable blindspot debug mode
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
#print "debug Left blindspot debug enabled"
self.blindspot_debug_enabled_left = True
if self.blindspot_blink_counter_right > 195 and not self.blindspot_debug_enabled_left: #After 2 seconds of blinking check blindspot
if CS.v_ego > 6: #polling at low speeds switches camera off
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
#print "debug Left blindspot debug enabled"
self.blindspot_debug_enabled_right = True
if not self.blindspot_debug_enabled_left: #enable blindspot debug mode
#if CS.v_ego > 6: #polling at low speeds switches camera off
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
#print "debug Left blindspot debug enabled"
self.blindspot_debug_enabled_right = True
if self.blindspot_debug_enabled_left:
if self.blindspot_poll_counter % 20 == 0 and self.blindspot_poll_counter > 1001: # Poll blindspots at 5 Hz
can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
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