controlsd: save lat_plan.dPathPoints to local variable (#23462)

commaai · Jan 10, 2022 · 2d08f8b · 2d08f8b
1 parent b2beb5e
commit 2d08f8b
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -537,11 +537,12 @@ def state_control(self, CS):
     if (lac_log.saturated and not CS.steeringPressed) or \
        (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
 
-      if len(lat_plan.dPathPoints):
+      dpath_points = lat_plan.dPathPoints
+      if len(dpath_points):
         # Check if we deviated from the path
         # TODO use desired vs actual curvature
-        left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.20
-        right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.20
+        left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
+        right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
 
         if left_deviation or right_deviation:
           self.events.add(EventName.steerSaturated)