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move capnp CarParams decoding out of car_helpers (#33251)

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* move capnp byte decoding out of car_helpers

* always wanted to type this

* and process replay

* this does nothing

* might as well
old-commit-hash: ee62b9c88baf4a53f6db88381da2b8052c3fab17
This commit is contained in:
Shane Smiskol
2024-08-10 02:06:56 -05:00
committed by GitHub
parent 17dfc2b45b
commit 162436088f
3 changed files with 22 additions and 17 deletions
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selfdrive/car/car_helpers.py
+7 -13
View File
@@ -2,14 +2,13 @@ import os
import time
from cereal import car
from openpilot.selfdrive.car import carlog
from openpilot.selfdrive.car import carlog, gen_empty_fingerprint
from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from openpilot.selfdrive.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
FRAME_FINGERPRINT = 100 # 1s
@@ -82,7 +81,8 @@ def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, di
# **** for use live only ****
def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int, cached_params_raw: bytes | None):
def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
cached_params: type[car.CarParams] | None) -> tuple[str | None, dict, str, list, int, bool]:
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@@ -90,13 +90,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
start_time = time.monotonic()
if not skip_fw_query:
cached_params = None
if cached_params_raw is not None:
with car.CarParams.from_bytes(cached_params_raw) as cached_params:
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(cached_params.carFw) > 0 and \
if cached_params is not None and cached_params.carName != "mock" and len(cached_params.carFw) > 0 and \
cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
carlog.warning("Using cached CarParams")
vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
@@ -160,7 +154,7 @@ def get_car_interface(CP):
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, experimental_long_allowed: bool,
num_pandas: int = 1, cached_params: bytes | None = None):
num_pandas: int = 1, cached_params: type[car.CarParams] | None = None):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
if candidate is None:
selfdrive/car/card.py
+7 -1
View File
@@ -87,7 +87,13 @@ class Car:
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
cached_params = self.params.get("CarParamsCache")
cached_params = None
cached_params_raw = self.params.get("CarParamsCache")
if cached_params_raw is not None:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
self.CP = self.CI.CP
selfdrive/test/process_replay/process_replay.py
+8 -3
View File
@@ -349,8 +349,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
sendcan = DummySocket()
canmsgs = [msg for msg in msgs if msg.which() == "can"]
cached_params = params.get("CarParamsCache")
has_cached_cp = cached_params is not None
cached_params_raw = params.get("CarParamsCache")
has_cached_cp = cached_params_raw is not None
assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
"CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
@@ -358,13 +358,18 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes())
can_callbacks = can_comm_callbacks(can, sendcan)
cached_params = None
if has_cached_cp:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
if not params.get_bool("DisengageOnAccelerator"):
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
params.put("CarParams", CP.to_bytes())
return CP
def controlsd_rcv_callback(msg, cfg, frame):