From cecf82e951fc6e172d6cbdba2ce7705ad2f41a50 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 13 Sep 2024 00:32:30 -0400 Subject: [PATCH] set point in base class only --- .../car/hyundai/controller.py | 3 --- .../custom_stock_longitudinal_controller/controllers.py | 8 ++++---- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py index 5d10f916fa..5b36983efa 100644 --- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py +++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/car/hyundai/controller.py @@ -18,9 +18,6 @@ class CustomStockLongitudinalController(CustomStockLongitudinalControllerBase): self.set_speed_buttons = (ButtonType.accelCruise, ButtonType.decelCruise) - def get_set_point(self, is_metric: bool) -> float: - return 30 if is_metric else int(20 * CV.MPH_TO_KPH) - def create_can_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]: can_sends = [] if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled: diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py index d6b40c4298..26db661e47 100644 --- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py +++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py @@ -144,12 +144,12 @@ class CustomStockLongitudinalControllerBase(ABC): return cruise_button - @abstractmethod - def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]: - pass + @staticmethod + def get_set_point(is_metric: bool) -> float: + return 30 if is_metric else int(20 * CV.MPH_TO_KPH) @abstractmethod - def get_set_point(self, is_metric: bool) -> float: + def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]: pass def update(self, CS: car.CarState) -> None: