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Code Issues Packages Projects Releases Wiki Activity

use buttonEvent.type instead of string (#1533)

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This commit is contained in:
eFini
2020-05-19 03:15:30 +10:00
committed by GitHub
parent 495e0c4648
commit e14dfa3bec
1 changed files with 4 additions and 3 deletions
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7
selfdrive/controls/lib/drive_helpers.py
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@@ -1,5 +1,6 @@
from common.numpy_fast import clip, interp
from selfdrive.config import Conversions as CV
from cereal import car
# kph
V_CRUISE_MAX = 144
@@ -35,9 +36,9 @@ def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
# would have the effect of both enabling and changing speed is checked after the state transition
for b in buttonEvents:
if enabled and not b.pressed:
if b.type == "accelCruise":
if b.type == car.CarState.ButtonEvent.Type.accelCruise:
v_cruise_kph += V_CRUISE_DELTA - (v_cruise_kph % V_CRUISE_DELTA)
elif b.type == "decelCruise":
elif b.type == car.CarState.ButtonEvent.Type.decelCruise:
v_cruise_kph -= V_CRUISE_DELTA - ((V_CRUISE_DELTA - v_cruise_kph) % V_CRUISE_DELTA)
v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
@@ -47,7 +48,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents:
# 250kph or above probably means we never had a set speed
if b.type == "accelCruise" and v_cruise_last < 250:
if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
return v_cruise_last
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))