From 858d437f57c0532baa16f06f031af5d969ee8f6d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Jun 2025 22:34:26 -0400 Subject: [PATCH] more --- sunnypilot/mapd/mapd_installer.py | 2 +- sunnypilot/navd/helpers.py | 12 ++++++------ .../speed_limit_controller.py | 14 +++++++------- .../speed_limit_controller/speed_limit_resolver.py | 2 +- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py index 32e1d3cde6..f91da376b3 100755 --- a/sunnypilot/mapd/mapd_installer.py +++ b/sunnypilot/mapd/mapd_installer.py @@ -84,7 +84,7 @@ class MapdInstallManager: def wait_for_internet_connection(self, return_on_failure=False): max_retries = 10 - for retries in range(max_retries+1): + for retries in range(max_retries + 1): self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]") time.sleep(2) try: diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py index f3fb38723a..85894fb2ab 100644 --- a/sunnypilot/navd/helpers.py +++ b/sunnypilot/navd/helpers.py @@ -13,9 +13,9 @@ MODIFIABLE_DIRECTIONS = ('left', 'right') EARTH_MEAN_RADIUS = 6371007.2 SPEED_CONVERSIONS = { - 'km/h': Conversions.KPH_TO_MS, - 'mph': Conversions.MPH_TO_MS, - } + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, +} class Coordinate: @@ -65,9 +65,9 @@ class Coordinate: haversine_dlon *= haversine_dlon y = haversine_dlat \ - + math.cos(math.radians(self.latitude)) \ - * math.cos(math.radians(other.latitude)) \ - * haversine_dlon + + math.cos(math.radians(self.latitude)) \ + * math.cos(math.radians(other.latitude)) \ + * haversine_dlon x = 2 * math.asin(math.sqrt(y)) return x * EARTH_MEAN_RADIUS diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py index e184f6d20d..f2c704f606 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py @@ -194,7 +194,7 @@ class SpeedLimitController: """ Make state transition from inactive state """ if self._engage_type == Engage.user_confirm: if (((self._last_op_enabled_time + 7.) >= self._current_time >= (self._last_op_enabled_time + 2.)) or - self._speed_limit_changed): + self._speed_limit_changed): if self._speed_limit_changed: self._last_op_enabled_time = self._current_time - 2. # immediately prompt confirmation self.state = SpeedLimitControlState.preActive @@ -253,7 +253,7 @@ class SpeedLimitController: # In any case, if op is disabled, or speed limit control is disabled # or the reported speed limit is 0 or gas is pressed, deactivate. if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or \ - (self._gas_pressed and self._disengage_on_accelerator): + (self._gas_pressed and self._disengage_on_accelerator): self.state = SpeedLimitControlState.inactive return @@ -261,7 +261,7 @@ class SpeedLimitController: # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations # due to controlsd logic changing cruise setpoint when going active. if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \ - self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): + self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD): self.state = SpeedLimitControlState.tempInactive return @@ -277,7 +277,7 @@ class SpeedLimitController: def get_adapting_state_target_acceleration(self) -> float: """ In adapting state, calculate target acceleration based on speed limit and current velocity """ if self.distance > 0: - return (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance) + return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance) return self._v_offset / ModelConstants.T_IDXS[CONTROL_N] @@ -287,13 +287,13 @@ class SpeedLimitController: def _update_events(self, events_sp: EventsSP) -> None: if self._speed_limit > 0 and self._warning_type == 2 and \ - self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): + self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)): events_sp.add(EventNameSP.speedLimitPreActive) if not self.is_active: if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \ - self._v_cruise_rounded != self._speed_limit_offsetted_rounded: - events_sp.add(EventNameSP.speedLimitPreActive) + self._v_cruise_rounded != self._speed_limit_offsetted_rounded: + events_sp.add(EventNameSP.speedLimitPreActive) else: if self._engage_type == Engage.user_confirm: if self._state_prev == SpeedLimitControlState.preActive: diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py index 1dec697d9e..d04b8ae923 100644 --- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py +++ b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py @@ -85,7 +85,7 @@ class SpeedLimitResolver: if 0. < next_speed_limit < self._v_ego: adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC - adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2 + adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2 if distance_to_speed_limit_ahead <= adapt_distance: self._limit_solutions[Source.map_data] = next_speed_limit