fix: ensure the kart won't move after parking

src/lane_assist/lane_assist.py

@@ -52,6 +52,7 @@ class LaneAssist:
     speed_controller: ISpeedController
     telemetry: TelemetryServer
 
+    __killed: bool = False
     __path_follower: PathFollower
     __stop_line_assist: StopLineAssist
     __calibration: CalibrationData
@@ -152,10 +153,14 @@ def start(self, multithreading: bool = False) -> threading.Thread | None:
 
     def stop(self) -> None:
         """Stop the lane assist."""
+        self.__killed = True
         self.enabled = False
 
     def toggle(self) -> None:
         """Toggle the lane assist."""
+        if self.__killed:
+            return
+
         self.enabled = not self.enabled
         self.__path_follower.reset()
 
@@ -185,12 +190,12 @@ def __follow_path(self, lines: list[Line], position: tuple[int, int], lane: int)
     def __run(self) -> None:
         """Run the lane assist loop."""
         try:
-            for gray_image in self.image_generator():
+            for image in self.image_generator():
                 if not self.enabled:
                     time.sleep(0.5)
                     continue
 
-                self.lane_assist_loop(gray_image)
+                self.lane_assist_loop(image)
                 time.sleep(0)
         except StopIteration:
             pass

src/object_recognition/handlers/parking_handler.py

@@ -41,9 +41,6 @@ def handle(self, predictions: Boxes) -> None:
         manoeuvre = ParkingManoeuvre(self.__lidar, self.controller.lane_assist)
         manoeuvre.park()
 
-        while True:
-            time.sleep(1)
-
     def __any_within_distance(self, predictions: Boxes) -> bool:
         """Check if any parking space is within the distance threshold.
 

src/utils/parking.py

@@ -70,7 +70,7 @@ def park(self) -> None:
         self.__straighten_wheels()
 
         self.__wait_until(lambda: self.__is_centered(available_space))
-        self.__speed_controller.toggle()
+        self.__speed_controller.state = SpeedControllerState.STOPPED
 
     def __angle_to_xy(self, angle: int) -> tuple[float, float]:
         """Convert an angle and distance to x, y coordinates.