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more explicit inactive and loading

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This commit is contained in:
Jason Wen
2024-09-14 20:24:45 -04:00
parent 6efef44bbe
commit 6e9a2eefeb
1 changed files with 14 additions and 12 deletions
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sunnypilot/controls/lib/custom_stock_longitudinal_controller/states.py
+14 -12
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@@ -24,24 +24,23 @@ class InactiveState(ButtonStateBase):
def handle(self, controller) -> None:
self.button_count = 0
if controller.is_ready:
if not controller.is_ready:
controller.timer = 40
elif controller.timer > 0:
controller.timer -= 1
else:
controller.button_state = ButtonControlState.loading
return None
class LoadingState(ButtonStateBase):
def handle(self, controller) -> None:
if not controller.is_ready:
controller.timer = 40
elif controller.timer > 0:
controller.timer -= 1
if controller.target_speed > controller.v_cruise:
controller.button_state = ButtonControlState.accelerating
elif controller.target_speed < controller.v_cruise and controller.v_cruise > controller.v_cruise_min:
controller.button_state = ButtonControlState.decelerating
else:
if controller.target_speed > controller.v_cruise:
controller.button_state = ButtonControlState.accelerating
elif controller.target_speed < controller.v_cruise and controller.v_cruise > controller.v_cruise_min:
controller.button_state = ButtonControlState.decelerating
else:
controller.button_state = ButtonControlState.holding
controller.button_state = ButtonControlState.holding
return None
@@ -73,5 +72,8 @@ class HoldingState(ButtonStateBase):
class ResettingState(ButtonStateBase):
def handle(self, controller) -> None:
controller.button_state = ButtonControlState.inactive
if controller.is_ready:
controller.button_state = ButtonControlState.loading
else:
controller.button_state = ButtonControlState.inactive
return None