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Common CI._update function (#33289)

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* use CP

* no car control, consistent _update function signatures

* eh it's fine to name it whatever

* clean up

* oops

* !!

* now we can delete this!

* nobody does anymore
old-commit-hash: 7248b00086f9b8d5d95c80a2eb7fe89c387f44ea
This commit is contained in:
Shane Smiskol
2024-08-13 22:59:25 -07:00
committed by GitHub
parent fae517416e
commit 35a99d7fc6
26 changed files with 25 additions and 79 deletions
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selfdrive/car/interfaces.py
+2 -3
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@@ -217,9 +217,8 @@ class CarInterfaceBase(ABC):
tune.torque.latAccelOffset = 0.0
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
@abstractmethod
def _update(self) -> car.CarState:
pass
return self.CS.update(*self.can_parsers)
def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
# parse can
@@ -292,7 +291,7 @@ class CarStateBase(ABC):
self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
@abstractmethod
def update(self, *args) -> car.CarState:
def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> car.CarState:
pass
def update_speed_kf(self, v_ego_raw):