simplify

selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py

@@ -1,4 +1,5 @@
 from cereal import car
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CANFD_CAR, LEGACY_SAFETY_MODE_CAR
@@ -8,11 +9,19 @@ from openpilot.selfdrive.controls.lib.sunnypilot.custom_stock_longitudinal_contr
 ButtonType = car.CarState.ButtonEvent.Type
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise)
 
+HYUNDAI_V_CRUISE_MIN = {
+  True: 30,
+  False: int(20 * CV.MPH_TO_KPH),
+}
+
 
 class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase):
   def __init__(self, car_controller, CP):
     super().__init__(car_controller, CP)
 
+  def get_set_point(self, is_metric: bool) -> float:
+    return HYUNDAI_V_CRUISE_MIN[is_metric]
+
   def get_set_speed_buttons(self, CS: car.CarState) -> bool:
     return any(be.type in SET_SPEED_BUTTONS for be in CS.out.buttonEvents)
 

selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py

@@ -6,7 +6,6 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.controls.lib.sunnypilot.custom_stock_longitudinal_controller.definitions import MinimumSetPoint
 
 SendCan = tuple[int, bytes, int]
 
@@ -28,8 +27,6 @@ class CustomStockLongitudinalControllerBase(ABC):
     else:
       self.car_controller.sm = messaging.SubMaster([self.long_plan_sp])
 
-    self.min_set_point = MinimumSetPoint(CP)
-
     self.params = Params()
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
@@ -195,6 +192,10 @@ class CustomStockLongitudinalControllerBase(ABC):
   def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
     pass
 
+  @abstractmethod
+  def get_set_point(self, is_metric: bool) -> float:
+    pass
+
   def update(self, CS: car.CarState) -> None:
     self.car_controller.sm.update(0)
 
@@ -207,7 +208,7 @@ class CustomStockLongitudinalControllerBase(ABC):
       self.v_tsc = self.car_controller.sm[self.long_plan_sp].visionTurnSpeed
       self.m_tsc = self.car_controller.sm[self.long_plan_sp].turnSpeed
 
-    self.v_cruise_min = self.min_set_point.get_set_point(CS.params_list.is_metric)
+    self.v_cruise_min = self.get_set_point(CS.params_list.is_metric)
 
     if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
       self.sl_force_active_timer = self.car_controller.frame

selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/definitions.py

@@ -8,10 +8,6 @@ HONDA_V_CRUISE_MIN = {
   True: 40,
   False: int(25 * CV.MPH_TO_KPH),
 }
-HYUNDAI_V_CRUISE_MIN = {
-  True: 30,
-  False: int(20 * CV.MPH_TO_KPH),
-}
 MAZDA_V_CRUISE_MIN = {
   True: 30,
   False: int(20 * CV.MPH_TO_KPH),
@@ -33,8 +29,6 @@ class MinimumSetPoint:
     if is_metric != self.is_metric_prev:
       if self.CP.carName == "honda":
         self.set_point = HONDA_V_CRUISE_MIN[is_metric]
-      elif self.CP.carName == "hyundai":
-        self.set_point = HYUNDAI_V_CRUISE_MIN[is_metric]
       elif self.CP.carName == "chrysler":
         self.set_point = FCA_V_CRUISE_MIN[is_metric]
       elif self.CP.carName == "mazda":