From f94eeb9780bfd89f29f55fb2b0e58e41da3f9ba2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 15 Jan 2025 01:46:31 -0500 Subject: [PATCH] Revert "explicit type hints" This reverts commit c205497b --- sunnypilot/selfdrive/controls/lib/dec/dec.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index 3c04978eb3..13482d7ddb 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -74,9 +74,9 @@ class WeightedMovingAverageCalculator: self.data.pop(0) self.data.append(value) - def get_weighted_average(self) -> float: + def get_weighted_average(self) -> float | None: if len(self.data) == 0: - return 0.0 + return None 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 @@ -204,7 +204,7 @@ class DynamicExperimentalController: # lead detection with smoothing self._lead_gmac.add_data(lead_one.status) #self._has_lead_filtered = self._lead_gmac.get_weighted_average() > WMACConstants.LEAD_PROB - lead_prob = self._lead_gmac.get_weighted_average() + lead_prob = self._lead_gmac.get_weighted_average() or 0 self._has_lead_filtered = self._smoothed_lead_detection(lead_prob) # adaptive slow down detection @@ -248,7 +248,7 @@ 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() != 0.0 and self._dangerous_ttc_gmac.get_weighted_average() <= WMACConstants.DANGEROUS_TTC + self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= WMACConstants.DANGEROUS_TTC # keep prev values self._has_standstill_prev = self._has_standstill