diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 9408132c5b..e75705cb68 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") -SOURCES = ['lead0', 'lead1', 'cruise', 'e2e'] +LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource +MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise) X_DIM = 3 U_DIM = 1 @@ -217,7 +218,7 @@ class LongitudinalMpc: self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() - self.source = SOURCES[2] + self.source = LongitudinalPlanSource.cruise def reset(self): self.solver.reset() @@ -335,7 +336,7 @@ class LongitudinalMpc: cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] + self.source = MPC_SOURCES[np.argmin(x_obstacles[0])] self.yref[:,:] = 0.0 for i in range(N): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c5c03eba18..64de1a8fda 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET @@ -156,7 +156,7 @@ class LongitudinalPlanner: output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: - self.mpc.source = SOURCES[3] + self.mpc.source = LongitudinalPlanSource.e2e else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc