From 6098dd300a3ef4b3cc797eefd8d6fce38e7f277c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 1 Jul 2024 11:18:47 -0400
Subject: [PATCH] formatting

---
 common/params.cc                              |  1 +
 .../controls/lib/longitudinal_planner.py      |  2 +-
 .../lib/sunnypilot/accel_controller.py        | 53 +++++++++----------
 3 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 473ea89a77..49a8cba9b9 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -209,6 +209,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
     {"AccelProfile", PERSISTENT | BACKUP},
     {"AccMadsCombo", PERSISTENT | BACKUP},
     {"AmapKey1", PERSISTENT | BACKUP},
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 6b7c56d82e..11bf18c363 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,8 +19,8 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDX
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnController
 from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController
-from openpilot.selfdrive.controls.lib.sunnypilot.dynamic_experimental_controller import DynamicExperimentalController
 from openpilot.selfdrive.controls.lib.sunnypilot.accel_controller import AccelController
+from openpilot.selfdrive.controls.lib.sunnypilot.dynamic_experimental_controller import DynamicExperimentalController
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.common.swaglog import cloudlog
 
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index e6911b4a6c..26ad7f6692 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
-# Last update: June 5, 2024
+# Last updated: June 5, 2024
 
 from openpilot.common.numpy_fast import interp
 
@@ -43,34 +43,33 @@ _DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  15.,  20.,  25.,  30.,  55.
 
 
 class AccelController:
+  def __init__(self):
+    # self._params = Params()
+    self._profile = DP_ACCEL_STOCK
 
-    def __init__(self):
-        # self._params = Params()
-        self._profile = DP_ACCEL_STOCK
+  def set_profile(self, profile):
+    try:
+      self._profile = int(profile) if int(profile) in [DP_ACCEL_STOCK, DP_ACCEL_ECO, DP_ACCEL_NORMAL, DP_ACCEL_SPORT] else DP_ACCEL_STOCK
+    except:
+      self._profile = DP_ACCEL_STOCK
 
-    def set_profile(self, profile):
-        try:
-            self._profile = int(profile) if int(profile) in [DP_ACCEL_STOCK, DP_ACCEL_ECO, DP_ACCEL_NORMAL, DP_ACCEL_SPORT] else DP_ACCEL_STOCK
-        except:
-            self._profile = DP_ACCEL_STOCK
+  def _dp_calc_cruise_accel_limits(self, v_ego):
+    if self._profile == DP_ACCEL_ECO:
+      min_v = _DP_CRUISE_MIN_V_ECO
+      max_v = _DP_CRUISE_MAX_V_ECO
+    elif self._profile == DP_ACCEL_SPORT:
+      min_v = _DP_CRUISE_MIN_V_SPORT
+      max_v = _DP_CRUISE_MAX_V_SPORT
+    else:
+      min_v = _DP_CRUISE_MIN_V
+      max_v = _DP_CRUISE_MAX_V
 
-    def _dp_calc_cruise_accel_limits(self, v_ego):
-        if self._profile == DP_ACCEL_ECO:
-            min_v = _DP_CRUISE_MIN_V_ECO
-            max_v = _DP_CRUISE_MAX_V_ECO
-        elif self._profile == DP_ACCEL_SPORT:
-            min_v = _DP_CRUISE_MIN_V_SPORT
-            max_v = _DP_CRUISE_MAX_V_SPORT
-        else:
-            min_v = _DP_CRUISE_MIN_V
-            max_v = _DP_CRUISE_MAX_V
+    a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
+    a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
+    return a_cruise_min, a_cruise_max
 
-        a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
-        a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
-        return a_cruise_min, a_cruise_max
+  def get_accel_limits(self, v_ego, accel_limits):
+    return accel_limits if self._profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
 
-    def get_accel_limits(self, v_ego, accel_limits):
-        return accel_limits if self._profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
-
-    def is_enabled(self):
-        return self._profile != DP_ACCEL_STOCK
+  def is_enabled(self):
+    return self._profile != DP_ACCEL_STOCK