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car: abstract sunnypilot interfaces (#721)

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* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file

* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file

* Add type annotation to params in initialize_car_interface_sp

* rename

* just internal

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
Discountchubbs
2025-03-29 19:45:15 -07:00
committed by GitHub
parent 6b3f75bbf0
commit 63ba5e864f
6 changed files with 19 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/card.py
+2 -2
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@@ -108,7 +108,7 @@ class Car:
fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
sunnypilot_interfaces.setup_car_interface_sp(self.CI.CP, self.CI.CP_SP, self.params)
sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
self.CP = self.CI.CP
self.CP_SP = self.CI.CP_SP
@@ -274,7 +274,7 @@ class Car:
# Initialize CarInterface, once controls are ready
# TODO: this can make us miss at least a few cycles when doing an ECU knockout
self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
sunnypilot_interfaces.initialize_car_interface_sp(self.CP, self.CP_SP, self.params, *self.can_callbacks)
sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
# signal pandad to switch to car safety mode
self.params.put_bool_nonblocking("ControlsReady", True)
selfdrive/car/tests/test_car_interfaces.py
+1 -1
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@@ -45,7 +45,7 @@ class TestCarInterfaces:
experimental_long=args['experimental_long'], docs=False)
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
experimental_long=args['experimental_long'], docs=False)
sunnypilot_interfaces.setup_car_interface_sp(car_params, car_params_sp)
sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
car_params = car_params.as_reader()
car_interface = CarInterface(car_params, car_params_sp)
assert car_params
selfdrive/controls/lib/tests/test_latcontrol.py
+1 -1
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@@ -23,7 +23,7 @@ class TestLatControl:
CP = CarInterface.get_non_essential_params(car_name)
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP)
sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP)
sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
CP_SP = convert_to_capnp(CP_SP)
VM = VehicleModel(CP)
sunnypilot/selfdrive/car/interfaces.py
+13 -5
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@@ -26,7 +26,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
enabled: bool = False) -> None:
if params is None:
params = Params()
@@ -47,7 +47,7 @@ def initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: stru
CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
if params is None:
params = Params()
@@ -60,11 +60,14 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa
if params.get_bool("HyundaiRadarTracks"):
CP.radarUnavailable = False
initialize_neural_network_lateral_control(CP, CP_SP, params)
def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
_initialize_neural_network_lateral_control(CP, CP_SP, params)
_initialize_radar_tracks(CP, CP_SP, params)
def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
can_send: CanSendCallable):
def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
params: Params) -> None:
if CP.brand == 'hyundai':
if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
can_recv()
@@ -79,3 +82,8 @@ def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsS
if not radar_tracks_persistent:
params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)
def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
can_recv: CanRecvCallable, can_send: CanSendCallable):
_enable_radar_tracks(CP, CP_SP, can_recv, params)
sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+1 -1
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@@ -24,7 +24,7 @@ class TestNNLCFingerprintBase:
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP)
sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, Params())
sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params())
return CI
sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+1 -1
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@@ -22,7 +22,7 @@ class TestNNTorqueModel:
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP)
sunnypilot_interfaces.setup_car_interface_sp(CP, CP_SP, params)
sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
CP_SP = convert_to_capnp(CP_SP)