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This commit is contained in:
Jason Wen
2025-01-14 16:42:41 -05:00
parent 1f39c4ccfb
commit f4af0aa422
1 changed files with 9 additions and 9 deletions
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sunnypilot/selfdrive/controls/lib/dec/helpers.py
+9 -9
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@@ -16,17 +16,17 @@ class DecPlanner:
def __init__(self, CP: structs.CarParams, mpc):
self.CP = CP
self.mpc = mpc
self.dynamic_experimental_controller = DynamicExperimentalController()
self.dec = DynamicExperimentalController()
def get_mpc_mode(self) -> str | None:
if not self.dynamic_experimental_controller.active():
if not self.dec.active():
return None
return self.dynamic_experimental_controller.mode()
return self.dec.mode()
def update(self, sm: messaging.SubMaster) -> None:
self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
self.dec.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.dec.update(self.CP.radarUnavailable, sm)
def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -35,10 +35,10 @@ class DecPlanner:
longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
# DEC
# Dynamic Experimental Control
dec = longitudinalPlanSP.dec
dec.state = DecState.blended if self.dynamic_experimental_controller.mode() == 'blended' else DecState.acc
dec.enabled = self.dynamic_experimental_controller.enabled()
dec.active = self.dynamic_experimental_controller.active()
dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
dec.enabled = self.dec.enabled()
dec.active = self.dec.active()
pm.send('longitudinalPlanSP', plan_sp_send)