rename

selfdrive/controls/lib/longitudinal_planner.py

@@ -16,7 +16,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.helpers import DecPlanner
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
@@ -69,11 +69,11 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
   return a_target, should_stop
 
 
-class LongitudinalPlanner(DecPlanner):
+class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    DecPlanner.__init__(self, self.CP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -108,9 +108,9 @@ class LongitudinalPlanner(DecPlanner):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    DecPlanner.update(self, sm)
+    LongitudinalPlannerSP.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
-    if dec_mpc_mode := self.get_dec_mpc_mode():
+    if dec_mpc_mode := self.get_mpc_mode():
       self.mpc.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
@@ -212,4 +212,5 @@ class LongitudinalPlanner(DecPlanner):
     longitudinalPlan.allowThrottle = self.allow_throttle
 
     pm.send('longitudinalPlan', plan_send)
+
     self.publish_longitudinal_plan_sp(sm, pm)

sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -25,6 +25,7 @@
 import numpy as np
 
 from cereal import messaging
+from opendbc.car import structs
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
@@ -109,7 +110,9 @@ class WeightedMovingAverageCalculator:
 
 
 class DynamicExperimentalController:
-  def __init__(self, params=None):
+  def __init__(self, CP: structs.CarParams, mpc, params=None):
+    self._CP = CP
+    self._mpc = mpc
     self._params = params or Params()
     self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
     self._active: bool = False
@@ -151,6 +154,10 @@ class DynamicExperimentalController:
 
     self._set_mode_timeout = 0
 
+  def _read_params(self) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._enabled = self._params.get_bool("DynamicExperimentalControl")
+
   @staticmethod
   def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
     """
@@ -362,8 +369,8 @@ class DynamicExperimentalController:
   def active(self) -> bool:
     return self._active
 
-  def set_mpc_fcw_crash_cnt(self, crash_cnt: float) -> None:
-    self._mpc_fcw_crash_cnt = crash_cnt
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
   def _set_mode(self, mode: str) -> None:
     if self._set_mode_timeout == 0:
@@ -374,20 +381,17 @@ class DynamicExperimentalController:
     if self._set_mode_timeout > 0:
       self._set_mode_timeout -= 1
 
-  def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
-      self._enabled = self._params.get_bool("DynamicExperimentalControl")
-
-  def update(self, radar_unavailable: bool, sm: messaging.SubMaster) -> None:
+  def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
 
-    if self._enabled:
-      self._update_calculations(sm)
+    self.set_mpc_fcw_crash_cnt()
 
-      if radar_unavailable:
-        self._radarless_mode()
-      else:
-        self._radar_mode()
+    self._update_calculations(sm)
+
+    if self._CP.radarUnavailable:
+      self._radarless_mode()
+    else:
+      self._radar_mode()
 
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
 

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -12,21 +12,18 @@ from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimen
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
 
-class DecPlanner:
+class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
-    self.CP = CP
-    self.mpc = mpc
-    self.dec = DynamicExperimentalController()
+    self.dec = DynamicExperimentalController(CP, mpc)
 
-  def get_dec_mpc_mode(self) -> str | None:
+  def get_mpc_mode(self) -> str | None:
     if not self.dec.active():
       return None
 
     return self.dec.mode()
 
   def update(self, sm: messaging.SubMaster) -> None:
-    self.dec.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
-    self.dec.update(self.CP.radarUnavailable, sm)
+    self.dec.update(sm)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')