From 7ec2abcf08053f5743b763639ea12151b2568cb9 Mon Sep 17 00:00:00 2001 From: eFini Date: Tue, 19 May 2020 03:15:30 +1000 Subject: [PATCH] use buttonEvent.type instead of string (#1533) old-commit-hash: e14dfa3beca9897dafa776fdd68c5076d7a31d4e --- selfdrive/controls/lib/drive_helpers.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 629d072e82..ea7002475f 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -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)))