From 297f5abed8324974ec639cdf4853a5cdb6f4fe4e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 15 Aug 2024 23:44:33 -0700
Subject: [PATCH] add a which enum

---
 selfdrive/car/nissan/carstate.py |  2 +-
 selfdrive/car/structs.py         | 15 +++++++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 78d57b7e2e..59c3ddec46 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.lkas_hud_msg = {}
     self.lkas_hud_info_msg = {}
 
-    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
+    self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0.0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
     self.distance_button = 0
diff --git a/selfdrive/car/structs.py b/selfdrive/car/structs.py
index fb91541666..3c2f652875 100644
--- a/selfdrive/car/structs.py
+++ b/selfdrive/car/structs.py
@@ -318,14 +318,17 @@ class CarParams:
 
   @auto_dataclass
   class LateralTuning:
-    def init(self, _which: str):
-      assert _which in ('pid', 'torque'), 'Invalid union type'
-      self._which = _which
+    def init(self, which: str):
+      self.which = CarParams.LateralTuning.Which(which)
 
-    def which(self):
-      return self._which
+    class Which(StrEnum):
+      pid = auto()
+      torque = auto()
+
+      def __call__(self):
+        return self.value
 
-    _which: str = 'pid'
+    which: 'CarParams.LateralTuning.Which' = field(default_factory=lambda: CarParams.LateralTuning.Which.torque)
 
     pid: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
     torque: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())