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car/interfaces.py: optimize parse_gear_shifter() with predefined dictionary (#32592)

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Optimize gear shifter parsing for improved performance
This commit is contained in:
Dean Lee
2024-06-06 09:04:03 +08:00
committed by GitHub
parent 7cfd91bb69
commit 91fd918fcb
1 changed files with 13 additions and 13 deletions
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selfdrive/car/interfaces.py
+13 -13
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@@ -33,6 +33,18 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.tom
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
'E': GearShifter.eco, 'ECO': GearShifter.eco,
'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
class LatControlInputs(NamedTuple):
lateral_acceleration: float
@@ -424,19 +436,7 @@ class CarStateBase(ABC):
def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
if gear is None:
return GearShifter.unknown
d: dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
'E': GearShifter.eco, 'ECO': GearShifter.eco,
'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
return d.get(gear.upper(), GearShifter.unknown)
return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
@staticmethod
def get_can_parser(CP):