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controls: check contents in tuple instead of list (#23463)

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old-commit-hash: b2beb5e6ba6eda6354e93649a5b5829c9c4537bc
This commit is contained in:
Dean Lee
2022-01-10 18:26:58 +08:00
committed by GitHub
parent 38144fa83b
commit 7276bf8197
3 changed files with 8 additions and 8 deletions
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selfdrive/controls/controlsd.py
+4 -4
View File
@@ -223,7 +223,7 @@ class Controls:
# self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].pandaType in [PandaType.uno, PandaType.dos]:
if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos):
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
@@ -249,8 +249,8 @@ class Controls:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing]:
elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
if not CS.canValid:
@@ -318,7 +318,7 @@ class Controls:
except UnicodeDecodeError:
pass
for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"):
for m in messages:
if err not in m:
continue
selfdrive/controls/lib/lane_planner.py
+1 -1
View File
@@ -69,7 +69,7 @@ class LanePlanner:
l_prob, r_prob = self.lll_prob, self.rll_prob
width_pts = self.rll_y - self.lll_y
prob_mods = []
for t_check in [0.0, 1.5, 3.0]:
for t_check in (0.0, 1.5, 3.0):
width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
mod = min(prob_mods)
selfdrive/controls/lib/lateral_planner.py
+3 -3
View File
@@ -138,7 +138,7 @@ class LateralPlanner:
else:
self.lane_change_state = LaneChangeState.off
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
self.lane_change_timer = 0.0
else:
self.lane_change_timer += DT_MDL
@@ -148,13 +148,13 @@ class LateralPlanner:
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# Send keep pulse once per second during LaneChangeStart.preLaneChange
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]:
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
self.keep_pulse_timer = 0.0
elif self.lane_change_state == LaneChangeState.preLaneChange:
self.keep_pulse_timer += DT_MDL
if self.keep_pulse_timer > 1.0:
self.keep_pulse_timer = 0.0
elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]:
elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
self.desire = log.LateralPlan.Desire.none
# Turn off lanes during lane change