squeak squeak

selfdrive/controls/tests/test_conditional_chill_mode.py

@@ -29,11 +29,14 @@ class FakeDetector:
     self.slow_lead_detected = False
     self.stop_light_detected = False
     self.stop_light_model_detected = False
+    self.toggle_objects = []
 
-  def curve_detection(self, *_args, **_kwargs):
+  def curve_detection(self, _v_ego, toggles):
+    self.toggle_objects.append(toggles)
     return None
 
-  def slow_lead(self, *_args, **_kwargs):
+  def slow_lead(self, toggles, _v_ego):
+    self.toggle_objects.append(toggles)
     return None
 
   def stop_sign_and_light(self, *_args, **_kwargs):
@@ -114,6 +117,23 @@ def test_ccm_stays_experimental_when_no_chill_condition_matches(monkeypatch):
   assert ccm.status_value == CCStatus["OFF"]
 
 
+def test_ccm_reuses_detector_toggles(monkeypatch):
+  _planner, detector, ccm = make_ccm()
+  sm = make_sm()
+  toggles = make_toggles()
+  monkeypatch.setattr("openpilot.starpilot.controls.lib.conditional_chill_mode.time.monotonic", lambda: 1.0)
+
+  ccm.update(20 * CV.MPH_TO_MS, 21 * CV.MPH_TO_MS, sm, toggles)
+  first_curve_toggles, first_slow_lead_toggles = detector.toggle_objects
+  detector.toggle_objects.clear()
+  ccm.update(20 * CV.MPH_TO_MS, 21 * CV.MPH_TO_MS, sm, toggles)
+  second_curve_toggles, second_slow_lead_toggles = detector.toggle_objects
+
+  assert first_curve_toggles is first_slow_lead_toggles
+  assert second_curve_toggles is second_slow_lead_toggles
+  assert first_curve_toggles is second_curve_toggles
+
+
 def test_ccm_enters_chill_for_open_road_speed_recovery(monkeypatch):
   planner, _detector, ccm = make_ccm()
   sm = make_sm()

starpilot/controls/lib/conditional_chill_mode.py

@@ -10,6 +10,21 @@ from openpilot.starpilot.common.experimental_state import (
 )
 
 
+class DetectorToggles:
+  """Fixed detector configuration used by Conditional Chill."""
+
+  __slots__ = ()
+
+  conditional_curves = True
+  conditional_curves_lead = True
+  conditional_lead = True
+  conditional_slower_lead = True
+  conditional_stopped_lead = True
+
+
+DETECTOR_TOGGLES = DetectorToggles()
+
+
 class ConditionalChillMode:
   CCM_STOP_MODEL_TIME = 7.0
   CHILL_SPEED_ENTRY_CONFIRM_TIME = 0.35
@@ -132,15 +147,8 @@ class ConditionalChillMode:
     self._launch_forced_exit = False
 
   def _refresh_detector(self, v_ego, sm):
-    detector_toggles = type("DetectorToggles", (), {
-      "conditional_curves": True,
-      "conditional_curves_lead": True,
-      "conditional_lead": True,
-      "conditional_slower_lead": True,
-      "conditional_stopped_lead": True,
-    })()
-    self.detector.curve_detection(v_ego, detector_toggles)
-    self.detector.slow_lead(detector_toggles, v_ego)
+    self.detector.curve_detection(v_ego, DETECTOR_TOGGLES)
+    self.detector.slow_lead(DETECTOR_TOGGLES, v_ego)
     self.detector.stop_sign_and_light(v_ego, sm, self.CCM_STOP_MODEL_TIME)
 
   def _has_hard_veto(self, v_ego, sm, allow_launch=False):