Latcontrol: type annotate update inputs and clip_curvature output (#36282)

selfdrive/controls/lib/drive_helpers.py

@@ -22,7 +22,7 @@ def smooth_value(val, prev_val, tau, dt=DT_MDL):
   alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
   return alpha * val + (1 - alpha) * prev_val
 
-def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
+def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, bool]:
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
   v_ego = max(v_ego, MIN_SPEED)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2)  # inexact calculation, check https://github.com/commaai/openpilot/pull/24755

selfdrive/controls/lib/latcontrol.py

@@ -15,7 +15,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose, curvature_limited: bool):
     pass
 
   def reset(self):