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check in tuple instead of list (#23477) 

* check in tuple instead of list

* Update selfdrive/car/toyota/carcontroller.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Update selfdrive/car/mazda/interface.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/23481/head
Dean Lee 2022-01-10 23:36:51 +08:00 committed by GitHub
parent 1b49ce6ec4
commit a653461dec
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GPG Key ID: 4AEE18F83AFDEB23
36 changed files with 89 additions and 89 deletions
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2
selfdrive/car/car_helpers.py
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@ -131,7 +131,7 @@ def fingerprint(logcan, sendcan):
for b in candidate_cars:
# Ignore extended messages and VIN query response.
if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
# if we only have one car choice and the time since we got our first

2
selfdrive/car/chrysler/carstate.py
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@ -52,7 +52,7 @@ class CarState(CarStateBase):
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]

2
selfdrive/car/chrysler/chryslercan.py
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@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
return make_can_msg(0x2a6, msg, 0)

2
selfdrive/car/ford/carcontroller.py
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@ -22,7 +22,7 @@ class CarController():
def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
can_sends = []
steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
apply_steer = actuators.steer

2
selfdrive/car/ford/carstate.py
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@ -25,7 +25,7 @@ class CarState(CarStateBase):
ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3))
ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
ret.gasPressed = ret.gas > 1e-6

2
selfdrive/car/ford/fordcan.py
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@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
"""Creates a CAN message for the Ford Steer Command."""
#if enabled and lkas available:
if enabled and lkas_state in [2, 3]: # and (frame % 500) >= 3:
if enabled and lkas_state in (2, 3): # and (frame % 500) >= 3:
action = lkas_action
else:
action = 0xf

2
selfdrive/car/ford/interface.py
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@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
# events
events = self.create_common_events(ret)
if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
events.add(car.CarEvent.EventName.steerTempUnavailable)
ret.events = events.to_msg()

4
selfdrive/car/fw_versions.py
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@ -253,11 +253,11 @@ def match_fw_to_car_exact(fw_versions_dict):
addr = ecu[1:]
found_version = fw_versions_dict.get(addr, None)
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS] and found_version is None:
if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
continue
# On some Toyota models, the engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
continue
# Ignore non essential ecus

2
selfdrive/car/gm/carcontroller.py
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@ -105,7 +105,7 @@ class CarController():
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
self.lka_icon_status_last = lka_icon_status

2
selfdrive/car/gm/interface.py
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@ -203,7 +203,7 @@ class CarInterface(CarInterfaceBase):
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:

2
selfdrive/car/honda/carcontroller.py
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@ -83,7 +83,7 @@ def process_hud_alert(hud_alert):
# priority is: FCW, steer required, all others
if hud_alert == VisualAlert.fcw:
fcw_display = VISUAL_HUD[hud_alert.raw]
elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
steer_required = VISUAL_HUD[hud_alert.raw]
else:
acc_alert = VISUAL_HUD[hud_alert.raw]

6
selfdrive/car/honda/carstate.py
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@ -201,11 +201,11 @@ class CarState(CarStateBase):
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
ret.steerError = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
# NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
# LOW_SPEED_LOCKOUT is not worth a warning
ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if not self.CP.openpilotLongitudinalControl:
self.brake_error = 0

2
selfdrive/car/honda/interface.py
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@ -416,7 +416,7 @@ class CarInterface(CarInterfaceBase):
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
if not self.CP.pcmCruise:
events.add(EventName.buttonEnable)

10
selfdrive/car/hyundai/carcontroller.py
View File

@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
right_lane, left_lane_depart, right_lane_depart):
sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))
# initialize to no line visible
sys_state = 1
@ -28,9 +28,9 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
left_lane_warning = 0
right_lane_warning = 0
if left_lane_depart:
left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
if right_lane_depart:
right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
return sys_warning, sys_state, left_lane_warning, right_lane_warning
@ -104,10 +104,10 @@ class CarController():
self.accel = accel
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022]:
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
can_sends.append(create_lfahda_mfc(self.packer, enabled))
# 5 Hz ACC options

4
selfdrive/car/hyundai/hyundaican.py
View File

@ -16,10 +16,10 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

18
selfdrive/car/hyundai/interface.py
View File

@ -44,7 +44,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 1.0 # s
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
@ -53,7 +53,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.7
@ -124,7 +124,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
@ -151,7 +151,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
@ -175,7 +175,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
@ -326,7 +326,7 @@ class CarInterface(CarInterfaceBase):
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:

2
selfdrive/car/hyundai/radar_interface.py
View File

@ -74,7 +74,7 @@ class RadarInterface(RadarInterfaceBase):
self.pts[addr].trackId = self.track_id
self.track_id += 1
valid = msg['STATE'] in [3, 4]
valid = msg['STATE'] in (3, 4)
if valid:
azimuth = math.radians(msg['AZIMUTH'])
self.pts[addr].measured = True

4
selfdrive/car/hyundai/values.py
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@ -12,9 +12,9 @@ class CarControllerParams:
def __init__(self, CP):
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]:
CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
else:
self.STEER_MAX = 384

4
selfdrive/car/mazda/interface.py
View File

@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarOffCan = True
ret.dashcamOnly = candidate not in [CAR.CX9_2021]
ret.dashcamOnly = candidate not in (CAR.CX9_2021,)
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CX9, CAR.CX9_2021]:
elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6

6
selfdrive/car/nissan/carcontroller.py
View File

@ -31,7 +31,7 @@ class CarController():
lkas_hud_info_msg = CS.lkas_hud_info_msg
apply_angle = actuators.steeringAngleDeg
steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
if enabled:
# # windup slower
@ -64,14 +64,14 @@ class CarController():
# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
cruise_cancel = 1
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
# TODO: Find better way to cancel!
# For some reason spamming the cancel button is unreliable on the Leaf
# We now cancel by making propilot think the seatbelt is unlatched,
# this generates a beep and a warning message every time you disengage
if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
can_sends.append(nissancan.create_steering_control(

22
selfdrive/car/nissan/carstate.py
View File

@ -23,16 +23,16 @@ class CarState(CarStateBase):
def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message()
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas > 3)
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
ret.wheelSpeeds = self.get_wheel_speeds(
@ -51,10 +51,10 @@ class CarState(CarStateBase):
else:
ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
if self.CP.carFingerprint == CAR.LEAF:
ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
elif self.CP.carFingerprint == CAR.LEAF_IC:
@ -70,7 +70,7 @@ class CarState(CarStateBase):
speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
if speed != 255:
if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
else:
conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
@ -108,7 +108,7 @@ class CarState(CarStateBase):
self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
if self.CP.carFingerprint != CAR.ALTIMA:
@ -153,7 +153,7 @@ class CarState(CarStateBase):
("LIGHTS", 10),
]
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
@ -183,7 +183,7 @@ class CarState(CarStateBase):
("HUD", 25),
]
elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
signals += [
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
@ -344,7 +344,7 @@ class CarState(CarStateBase):
signals = []
checks = []
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
]

4
selfdrive/car/nissan/interface.py
View File

@ -21,12 +21,12 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
if candidate in [CAR.ROGUE, CAR.XTRAIL]:
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44

2
selfdrive/car/subaru/carstate.py
View File

@ -152,7 +152,7 @@ class CarState(CarStateBase):
("CruiseControl", 50),
]
if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
checks += [
("Dashlights", 10),
("CruiseControl", 50),

2
selfdrive/car/subaru/interface.py
View File

@ -65,7 +65,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67

2
selfdrive/car/tesla/carcontroller.py
View File

@ -37,7 +37,7 @@ class CarController():
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
# Longitudinal control (40Hz)
if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]):
if self.CP.openpilotLongitudinalControl and ((frame % 5) in (0, 2)):
target_accel = actuators.accel
target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
max_accel = 0 if target_accel < 0 else target_accel

2
selfdrive/car/tesla/carstate.py
View File

@ -50,7 +50,7 @@ class CarState(CarStateBase):
cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
acc_enabled = (cruise_state in ["ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"])
acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
ret.cruiseState.enabled = acc_enabled
if speed_units == "KPH":

2
selfdrive/car/tesla/interface.py
View File

@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100. + STD_CARGO_KG
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5

10
selfdrive/car/toyota/carcontroller.py
View File

@ -29,9 +29,9 @@ class CarController():
if CS.CP.enableGasInterceptor and enabled:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if CS.CP.carFingerprint in [CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH]:
if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif CS.CP.carFingerprint in [CAR.COROLLA]:
elif CS.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
@ -49,7 +49,7 @@ class CarController():
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not enabled or CS.steer_state in [9, 25]:
if not enabled or CS.steer_state in (9, 25):
apply_steer = 0
apply_steer_req = 0
else:
@ -92,7 +92,7 @@ class CarController():
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
if pcm_cancel_cmd and CS.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
@ -110,7 +110,7 @@ class CarController():
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \

10
selfdrive/car/toyota/carstate.py
View File

@ -79,9 +79,9 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
else:
@ -95,7 +95,7 @@ class CarState(CarStateBase):
# these cars are identified by an ACC_TYPE value of 2.
# TODO: it is possible to avoid the lockout and gain stop and go if you
# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
@ -107,7 +107,7 @@ class CarState(CarStateBase):
else:
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in [1, 2, 3, 4, 5, 6]
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
@ -170,7 +170,7 @@ class CarState(CarStateBase):
("STEER_TORQUE_SENSOR", 50),
]
if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))

22
selfdrive/car/toyota/interface.py
View File

@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
ret.steerActuatorDelay = 0.3
elif candidate in [CAR.RAV4, CAR.RAV4H]:
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]:
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in [CAR.CHR, CAR.CHRH]:
elif candidate in (CAR.CHR, CAR.CHRH):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
@ -82,7 +82,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
@ -90,7 +90,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
@ -98,7 +98,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019):
stop_and_go = False
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
@ -106,7 +106,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
@ -121,7 +121,7 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
stop_and_go = True
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
stop_and_go = True
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7

2
selfdrive/car/volkswagen/carcontroller.py
View File

@ -72,7 +72,7 @@ class CarController():
# **** HUD Controls ***************************************************** #
if frame % P.LDW_STEP == 0:
if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
else:
hud_alert = MQB_LDW_MESSAGES["none"]

6
selfdrive/car/volkswagen/carstate.py
View File

@ -41,8 +41,8 @@ class CarState(CarStateBase):
# Verify EPS readiness to accept steering commands
hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
ret.steerError = hca_status in ["DISABLED", "FAULT"]
ret.steerWarning = hca_status in ["INITIALIZING", "REJECTED"]
ret.steerError = hca_status in ("DISABLED", "FAULT")
ret.steerWarning = hca_status in ("INITIALIZING", "REJECTED")
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
@ -102,7 +102,7 @@ class CarState(CarStateBase):
# ACC okay and enabled, but not currently engaged
ret.cruiseState.available = True
ret.cruiseState.enabled = False
elif self.tsk_status in [3, 4, 5]:
elif self.tsk_status in (3, 4, 5):
# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
ret.cruiseState.available = True
ret.cruiseState.enabled = True

4
selfdrive/car/volkswagen/interface.py
View File

@ -38,7 +38,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]): # Airbag_01, LWI_01, ESP_19, ESP_21
if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
@ -194,7 +194,7 @@ class CarInterface(CarInterfaceBase):
# Vehicle health and operation safety checks
if self.CS.parkingBrakeSet:
events.add(EventName.parkBrake)
if self.CS.tsk_status in [6, 7]:
if self.CS.tsk_status in (6, 7):
events.add(EventName.accFaulted)
# Low speed steer alert hysteresis logic

2
selfdrive/controls/lib/events.py
View File

@ -236,7 +236,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
gps_integrated = sm['peripheralState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos]
gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
return Alert(
"Poor GPS reception",
"If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",

2
selfdrive/controls/tests/test_alerts.py
View File

@ -61,7 +61,7 @@ class TestAlerts(unittest.TestCase):
for alert in ALERTS:
# for full size alerts, both text fields wrap the text,
# so it's unlikely that they would go past the max width
if alert.alert_size in [AlertSize.none, AlertSize.full]:
if alert.alert_size in (AlertSize.none, AlertSize.full):
continue
for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):

4
selfdrive/monitoring/driver_monitor.py
View File

@ -205,8 +205,8 @@ class DriverStatus():
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
if not all(len(x) > 0 for x in [driver_state.faceOrientation, driver_state.facePosition,
driver_state.faceOrientationStd, driver_state.facePositionStd]):
if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
driver_state.faceOrientationStd, driver_state.facePositionStd)):
return
self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD