controls: check contents in tuple instead of list (#23463)
parent
f6c6e34ea3
commit
b2beb5e6ba
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@ -223,7 +223,7 @@ class Controls:
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# self.events.add(EventName.highCpuUsage)
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# Alert if fan isn't spinning for 5 seconds
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if self.sm['peripheralState'].pandaType in [PandaType.uno, PandaType.dos]:
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if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos):
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if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
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if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
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self.events.add(EventName.fanMalfunction)
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@ -249,8 +249,8 @@ class Controls:
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self.events.add(EventName.preLaneChangeLeft)
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else:
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self.events.add(EventName.preLaneChangeRight)
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elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
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LaneChangeState.laneChangeFinishing]:
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elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
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LaneChangeState.laneChangeFinishing):
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self.events.add(EventName.laneChange)
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if not CS.canValid:
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@ -318,7 +318,7 @@ class Controls:
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except UnicodeDecodeError:
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pass
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for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
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for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"):
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for m in messages:
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if err not in m:
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continue
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@ -69,7 +69,7 @@ class LanePlanner:
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l_prob, r_prob = self.lll_prob, self.rll_prob
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width_pts = self.rll_y - self.lll_y
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prob_mods = []
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for t_check in [0.0, 1.5, 3.0]:
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for t_check in (0.0, 1.5, 3.0):
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width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
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prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
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mod = min(prob_mods)
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@ -138,7 +138,7 @@ class LateralPlanner:
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else:
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self.lane_change_state = LaneChangeState.off
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if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
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self.lane_change_timer = 0.0
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else:
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self.lane_change_timer += DT_MDL
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@ -148,13 +148,13 @@ class LateralPlanner:
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self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
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# Send keep pulse once per second during LaneChangeStart.preLaneChange
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if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]:
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
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self.keep_pulse_timer = 0.0
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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self.keep_pulse_timer += DT_MDL
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if self.keep_pulse_timer > 1.0:
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self.keep_pulse_timer = 0.0
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elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]:
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elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
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self.desire = log.LateralPlan.Desire.none
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# Turn off lanes during lane change
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