check in tuple instead of list (commaai#23477)

* check in tuple instead of list

* Update selfdrive/car/toyota/carcontroller.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Update selfdrive/car/mazda/interface.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/car/car_helpers.py

@@ -131,7 +131,7 @@ def fingerprint(logcan, sendcan):
 
       for b in candidate_cars:
         # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
           candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
 
     # if we only have one car choice and the time since we got our first

selfdrive/car/chrysler/carstate.py

@@ -52,7 +52,7 @@ def update(self, cp, cp_cam):
     ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]

selfdrive/car/chrysler/chryslercan.py

@@ -8,7 +8,7 @@
 def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
-  if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
     msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
     return make_can_msg(0x2a6, msg, 0)
 

selfdrive/car/ford/carcontroller.py

@@ -22,7 +22,7 @@ def __init__(self, dbc_name, CP, VM):
   def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
 
     can_sends = []
-    steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+    steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
 
     apply_steer = actuators.steer
 

selfdrive/car/ford/carstate.py

@@ -25,7 +25,7 @@ def update(self, cp):
     ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
     ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
     ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
-    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3))
     ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
     ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
     ret.gasPressed = ret.gas > 1e-6

selfdrive/car/ford/fordcan.py

@@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
   """Creates a CAN message for the Ford Steer Command."""
 
   #if enabled and lkas available:
-  if enabled and lkas_state in [2, 3]:  # and (frame % 500) >= 3:
+  if enabled and lkas_state in (2, 3):  # and (frame % 500) >= 3:
     action = lkas_action
   else:
     action = 0xf

selfdrive/car/ford/interface.py

@@ -51,7 +51,7 @@ def update(self, c, can_strings):
     # events
     events = self.create_common_events(ret)
 
-    if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
+    if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
       events.add(car.CarEvent.EventName.steerTempUnavailable)
 
     ret.events = events.to_msg()

selfdrive/car/fw_versions.py

@@ -253,11 +253,11 @@ def match_fw_to_car_exact(fw_versions_dict):
       addr = ecu[1:]
       found_version = fw_versions_dict.get(addr, None)
       ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
-      if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
       # Ignore non essential ecus

selfdrive/car/gm/carcontroller.py

@@ -105,7 +105,7 @@ def update(self, enabled, CS, frame, actuators,
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
     if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
-      steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
 

selfdrive/car/gm/interface.py

@@ -203,7 +203,7 @@ def update(self, c, can_strings):
     # handle button presses
     for b in ret.buttonEvents:
       # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
         events.add(EventName.buttonEnable)
       # do disable on button down
       if b.type == ButtonType.cancel and b.pressed:

selfdrive/car/honda/carcontroller.py

@@ -83,7 +83,7 @@ def process_hud_alert(hud_alert):
   # priority is: FCW, steer required, all others
   if hud_alert == VisualAlert.fcw:
     fcw_display = VISUAL_HUD[hud_alert.raw]
-  elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
     steer_required = VISUAL_HUD[hud_alert.raw]
   else:
     acc_alert = VISUAL_HUD[hud_alert.raw]

selfdrive/car/honda/carstate.py

@@ -201,11 +201,11 @@ def update(self, cp, cp_cam, cp_body):
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
 
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
-    ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
+    ret.steerError = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
     # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
-    self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
+    self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
     # LOW_SPEED_LOCKOUT is not worth a warning
-    ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
+    ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
 
     if not self.CP.openpilotLongitudinalControl:
       self.brake_error = 0

selfdrive/car/honda/interface.py

@@ -416,7 +416,7 @@ def update(self, c, can_strings):
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
         if not self.CP.pcmCruise:
           events.add(EventName.buttonEnable)
 

selfdrive/car/hyundai/carcontroller.py

@@ -13,7 +13,7 @@
 
 def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
                       right_lane, left_lane_depart, right_lane_depart):
-  sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
+  sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
   # initialize to no line visible
   sys_state = 1
@@ -28,9 +28,9 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
   left_lane_warning = 0
   right_lane_warning = 0
   if left_lane_depart:
-    left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
   if right_lane_depart:
-    right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
 
   return sys_warning, sys_state, left_lane_warning, right_lane_warning
 
@@ -104,10 +104,10 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hu
       self.accel = accel
 
     # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+    if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                    CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022]:
+                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     # 5 Hz ACC options

selfdrive/car/hyundai/hyundaican.py

@@ -16,10 +16,10 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_ActToi"] = steer_req
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
+  if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
+                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -44,7 +44,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 
-    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
+    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
@@ -53,7 +53,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
-    elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
+    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1513. + STD_CARGO_KG
       ret.wheelbase = 2.84
@@ -76,7 +76,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       tire_stiffness_factor = 0.63
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
-    elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
+    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -116,23 +116,23 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73 * 1.15  # Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
       ret.lateralTuning.pid.kf = 0.00005
@@ -151,7 +151,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -175,7 +175,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.lateralTuning.indi.timeConstantV = [1.4]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
-    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
+    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -326,7 +326,7 @@ def update(self, c, can_strings):
 
         for b in ret.buttonEvents:
           # do enable on both accel and decel buttons
-          if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+          if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
             events.add(EventName.buttonEnable)
           # do disable on button down
           if b.type == ButtonType.cancel and b.pressed:

selfdrive/car/hyundai/radar_interface.py

@@ -74,7 +74,7 @@ def _update(self, updated_messages):
         self.pts[addr].trackId = self.track_id
         self.track_id += 1
 
-      valid = msg['STATE'] in [3, 4]
+      valid = msg['STATE'] in (3, 4)
       if valid:
         azimuth = math.radians(msg['AZIMUTH'])
         self.pts[addr].measured = True

selfdrive/car/hyundai/values.py

@@ -12,9 +12,9 @@ class CarControllerParams:
   def __init__(self, CP):
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+    if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                              CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
-                             CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]:
+                             CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
     else:
       self.STEER_MAX = 384

selfdrive/car/mazda/interface.py

@@ -22,7 +22,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarOffCan = True
 
-    ret.dashcamOnly = candidate not in [CAR.CX9_2021]
+    ret.dashcamOnly = candidate not in (CAR.CX9_2021,)
 
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 1.0
@@ -36,7 +36,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
       ret.lateralTuning.pid.kf = 0.00006
-    elif candidate in [CAR.CX9, CAR.CX9_2021]:
+    elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6

selfdrive/car/nissan/carcontroller.py

@@ -31,7 +31,7 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
+    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if enabled:
       # # windup slower
@@ -64,14 +64,14 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
       # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       cruise_cancel = 1
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
         can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(