types in different pr and index from end of array

Author: felsager

selfdrive/controls/lib/latcontrol.py

@@ -15,13 +15,13 @@ def __init__(self, CP, CI):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay: float):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated: bool, CS, steer_limited_by_safety: bool, curvature_limited: bool):
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
     if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate

selfdrive/controls/lib/latcontrol_angle.py

@@ -13,7 +13,7 @@ def __init__(self, CP, CI):
     self.sat_check_min_speed = 5.
     self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay: float):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:

selfdrive/controls/lib/latcontrol_pid.py

@@ -13,7 +13,7 @@ def __init__(self, CP, CI):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay: float):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)

selfdrive/controls/lib/latcontrol_torque.py

@@ -47,7 +47,7 @@ def update_limits(self):
     self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_curvature, curvature_limited: bool, lat_delay: float):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay: float):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -59,8 +59,8 @@ def update(self, active, CS, VM, params, steer_limited_by_safety: bool, desired_
 
       delay_frames = int(lat_delay / DT_CTRL)
       lag_compensated_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.requested_lateral_accel_buffer.appendleft(lag_compensated_desired_lateral_accel)
-      current_expected_lateral_accel = self.requested_lateral_accel_buffer[delay_frames]
+      self.requested_lateral_accel_buffer.append(lag_compensated_desired_lateral_accel)
+      current_expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
       current_expected_curvature = current_expected_lateral_accel / (CS.vEgo ** 2)
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2