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.dec_longitudinal_planner import DecLongitudinalPlanner
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.helpers import DecPlanner
 
 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(DecLongitudinalPlanner):
+class LongitudinalPlanner(DecPlanner):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    DecLongitudinalPlanner.__init__(self, self.CP, self.mpc)
+    DecPlanner.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -108,7 +108,7 @@ class LongitudinalPlanner(DecLongitudinalPlanner):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    DecLongitudinalPlanner.update(self, sm)
+    DecPlanner.update(self, sm)
     self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode(sm):
       self.mpc.mode = dec_mpc_mode

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

@@ -11,16 +11,14 @@ from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimen
 MpcSource = custom.LongitudinalPlanSP.MpcSource
 
 
-class DecLongitudinalPlanner:
+class DecPlanner:
   def __init__(self, CP, mpc):
     self.CP = CP
     self.mpc = mpc
-    self.dynamic_experimental_controller = DynamicExperimentalController()
+
     self.is_enabled = False
 
-  def update(self, sm):
-    self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
-    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
+    self.dynamic_experimental_controller = DynamicExperimentalController()
 
   def get_mpc_mode(self, sm):
     if not self.is_enabled or not sm['selfdriveState'].experimentalMode:
@@ -28,6 +26,10 @@ class DecLongitudinalPlanner:
 
     return self.dynamic_experimental_controller.get_mpc_mode()
 
+  def update(self, sm):
+    self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
+    self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
+
   def publish_longitudinal_plan_sp(self, sm, pm):
     plan_sp_send = messaging.new_message('longitudinalPlanSP')