controls: check contents in tuple instead of list (#23463)

old-commit-hash: b2beb5e6ba

selfdrive/controls/controlsd.py

@@ -223,7 +223,7 @@ class Controls:
     #  self.events.add(EventName.highCpuUsage)
 
     # Alert if fan isn't spinning for 5 seconds
-    if self.sm['peripheralState'].pandaType in [PandaType.uno, PandaType.dos]:
+    if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos):
       if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
         if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
           self.events.add(EventName.fanMalfunction)
@@ -249,8 +249,8 @@ class Controls:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
-                                                 LaneChangeState.laneChangeFinishing]:
+    elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
+                                                    LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
     if not CS.canValid:
@@ -318,7 +318,7 @@ class Controls:
         except UnicodeDecodeError:
           pass
 
-      for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
+      for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"):
         for m in messages:
           if err not in m:
             continue

selfdrive/controls/lib/lane_planner.py

@@ -69,7 +69,7 @@ class LanePlanner:
     l_prob, r_prob = self.lll_prob, self.rll_prob
     width_pts = self.rll_y - self.lll_y
     prob_mods = []
-    for t_check in [0.0, 1.5, 3.0]:
+    for t_check in (0.0, 1.5, 3.0):
       width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
       prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
     mod = min(prob_mods)

selfdrive/controls/lib/lateral_planner.py

@@ -138,7 +138,7 @@ class LateralPlanner:
           else:
             self.lane_change_state = LaneChangeState.off
 
-    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
       self.lane_change_timer = 0.0
     else:
       self.lane_change_timer += DT_MDL
@@ -148,13 +148,13 @@ class LateralPlanner:
     self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
-    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]:
+    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
       self.keep_pulse_timer = 0.0
     elif self.lane_change_state == LaneChangeState.preLaneChange:
       self.keep_pulse_timer += DT_MDL
       if self.keep_pulse_timer > 1.0:
         self.keep_pulse_timer = 0.0
-      elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]:
+      elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
         self.desire = log.LateralPlan.Desire.none
 
     # Turn off lanes during lane change