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explicit type hints

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This commit is contained in:
Jason Wen
2025-01-15 00:13:28 -05:00
parent 45f3c70596
commit c205497b15
1 changed files with 4 additions and 4 deletions
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8
sunnypilot/selfdrive/controls/lib/dec/dec.py
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@@ -98,9 +98,9 @@ class WeightedMovingAverageCalculator:
self.data.pop(0)
self.data.append(value)
def get_weighted_average(self) -> float | None:
def get_weighted_average(self) -> float:
if len(self.data) == 0:
return None
return 0.0
weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
weight_total: float = float(np.sum(self.weights[-len(self.data):]))
return weighted_sum / weight_total
@@ -227,7 +227,7 @@ class DynamicExperimentalController:
# lead detection with smoothing
self._lead_gmac.add_data(lead_one.status)
#self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
lead_prob = self._lead_gmac.get_weighted_average() or 0
lead_prob = self._lead_gmac.get_weighted_average()
self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
# adaptive slow down detection
@@ -271,7 +271,7 @@ class DynamicExperimentalController:
if self._has_lead and car_state.vEgo >= 0.01:
self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() != 0.0 and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
# keep prev values
self._has_standstill_prev = self._has_standstill