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Code Issues Packages Projects Releases Wiki Activity

Abstract out common CarInterface.apply (#31924)

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old-commit-hash: 3a7582d9a624ab7b43fd6cf98a19657252b11850
This commit is contained in:
Adeeb Shihadeh
2024-03-19 13:46:31 -07:00
committed by GitHub
parent 1f218e4169
commit cd74ed0489
15 changed files with 10 additions and 55 deletions
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selfdrive/car/interfaces.py
+5 -5
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@@ -93,10 +93,13 @@ class CarInterfaceBase(ABC):
self.cp_loopback = self.CS.get_loopback_can_parser(CP)
self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
self.CC = None
self.CC: CarControllerBase = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP, self.VM)
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
return self.CC.update(c, self.CS, now_nanos)
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX
@@ -250,9 +253,6 @@ class CarInterfaceBase(ABC):
return reader
@abstractmethod
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
pass
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
@@ -460,7 +460,7 @@ SendCan = tuple[int, int, bytes, int]
class CarControllerBase(ABC):
@abstractmethod
def update(self, CC, CS, now_nanos) -> tuple[car.CarControl.Actuators, list[SendCan]]:
def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
pass