From 6865eecbed7d16482de51860a31f7c2453d40ee4 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Sat, 4 Jan 2025 15:34:45 -0700 Subject: [PATCH] fix static test --- selfdrive/controls/lib/longitudinal_planner.py | 6 ++---- .../controls/lib/dynamic_experimental_controller.py | 7 +++---- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 71394f9b93..4f691f9278 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -128,14 +128,12 @@ class LongitudinalPlanner: self.param_read_counter += 1 if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode: self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt) - self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState']) #, sm['navInstruction'].maneuverDistance) + self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState']) + #, sm['navInstruction'].maneuverDistance) self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode() else: self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' - def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' - if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) else: diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py index 67ad16a83d..7249cdfad9 100644 --- a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py +++ b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 # The MIT License # # Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. @@ -22,7 +21,7 @@ # THE SOFTWARE. # # Version = 2024-7-11 -from common.numpy_fast import interp +from openpilot.common.numpy_fast import interp import numpy as np # d-e2e, from modeldata.h @@ -262,7 +261,7 @@ class DynamicExperimentalController: # return # when blinker is on and speed is driving below V_ACC_MIN: blended - # we dont want it to switch mode at higher speed, blended may trigger hard brake + # we don't want it to switch mode at higher speed, blended may trigger hard brake #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN: # self._set_mode('blended') # return @@ -312,7 +311,7 @@ class DynamicExperimentalController: return # when blinker is on and speed is driving below V_ACC_MIN: blended - # we dont want it to switch mode at higher speed, blended may trigger hard brake + # we don't want it to switch mode at higher speed, blended may trigger hard brake #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN: # self._set_mode('blended') # return