mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-28 02:13:45 +08:00
Jason Wen
1bc12f1e21
* Reapply "`LagdToggle`: refactor and only instantiate once" (#1137)
This reverts commit b4f19d4860.
* infinite woo gone
* use them hz
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import log
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from opendbc.car import structs
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from openpilot.common.params import Params
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class LagdToggle:
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def __init__(self, CP: structs.CarParams):
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self.CP = CP
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self.params = Params()
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self.lag = 0.0
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self.lagd_toggle = self.params.get_bool("LagdToggle")
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self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
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def read_params(self) -> None:
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self.lagd_toggle = self.params.get_bool("LagdToggle")
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self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
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def update(self, lag_msg: log.LiveDelayData) -> None:
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self.read_params()
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if not self.lagd_toggle:
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steer_actuator_delay = self.CP.steerActuatorDelay
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delay = self.software_delay
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self.lag = (steer_actuator_delay + delay)
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self.params.put_nonblocking("LagdValueCache", self.lag)
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return
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lateral_delay = lag_msg.liveDelay.lateralDelay
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self.lag = lateral_delay
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self.params.put_nonblocking("LagdValueCache", self.lag)
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