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remove cast for platformconfig (#31604)

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* this isnt required

* Cleaner
This commit is contained in:
Justin Newberry
2024-02-27 00:01:41 -05:00
committed by GitHub
parent 14ea615ae4
commit 6d0027342a
1 changed files with 9 additions and 10 deletions
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selfdrive/car/interfaces.py
+9 -10
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@@ -4,7 +4,7 @@ import numpy as np
import tomllib
from abc import abstractmethod, ABC
from enum import StrEnum
from typing import Any, NamedTuple, cast
from typing import Any, NamedTuple
from collections.abc import Callable
from cereal import car
@@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car.values import Platform
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.events import Events
@@ -113,14 +113,13 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate)
if hasattr(candidate, "config"):
platform_config = cast(PlatformConfig, candidate.config)
if platform_config.specs is not None:
ret.mass = platform_config.specs.mass
ret.wheelbase = platform_config.specs.wheelbase
ret.steerRatio = platform_config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
ret.minEnableSpeed = platform_config.specs.minEnableSpeed
ret.minSteerSpeed = platform_config.specs.minSteerSpeed
if candidate.config.specs is not None:
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)