From e7d27f0bb96704d64f2e8007652c2fba466a6b8c Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 12 Jan 2025 16:46:43 -0500 Subject: [PATCH] move around --- .../lib/dynamic_experimental_controller.py | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py index 5f3b323574..e166c7c65d 100644 --- a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py +++ b/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py @@ -343,21 +343,6 @@ class DynamicExperimentalController: self._set_mode('acc') - def update(self, radar_unavailable, sm): - car_state = sm['carState'] - lead_one = sm['radarState'].leadOne - md = sm['modelV2'] - controls_state = sm['controlsState'] - - if self._is_enabled: - self._update(car_state, lead_one, md, controls_state) - if radar_unavailable: - self._radarless_mode() - else: - self._radar_mode() - self._mode_changed = self._mode != self._mode_prev - self._mode_prev = self._mode - def get_mpc_mode(self): return self._mode @@ -381,3 +366,18 @@ class DynamicExperimentalController: if self._set_mode_timeout > 0: self._set_mode_timeout -= 1 + + def update(self, radar_unavailable, sm): + car_state = sm['carState'] + lead_one = sm['radarState'].leadOne + md = sm['modelV2'] + controls_state = sm['controlsState'] + + if self._is_enabled: + self._update(car_state, lead_one, md, controls_state) + if radar_unavailable: + self._radarless_mode() + else: + self._radar_mode() + self._mode_changed = self._mode != self._mode_prev + self._mode_prev = self._mode