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Merge branch 'master-new' of https://github.com/sunnypilot/sunnypilot into master-new

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infiniteCable2
2025-05-08 23:11:49 +02:00
parent 2068036d43 037695af4a
commit 8cf54ee2f8
7 changed files with 14 additions and 11 deletions
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selfdrive/car/card.py
+1 -1
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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), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
sunnypilot_interfaces.setup_interfaces(self.CI, 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
selfdrive/car/tests/test_car_interfaces.py
+1 -1
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@@ -45,9 +45,9 @@ class TestCarInterfaces:
alpha_long=args['alpha_long'], docs=False)
car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
alpha_long=args['alpha_long'], docs=False)
sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
car_params = car_params.as_reader()
car_interface = CarInterface(car_params, car_params_sp)
sunnypilot_interfaces.setup_interfaces(car_interface)
assert car_params
assert car_params_sp
assert car_interface
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_interfaces(CP, CP_SP)
sunnypilot_interfaces.setup_interfaces(CI)
CP_SP = convert_to_capnp(CP_SP)
VM = VehicleModel(CP)
sunnypilot/selfdrive/car/interfaces.py
+8 -5
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@@ -26,8 +26,8 @@ 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,
enabled: bool = False) -> None:
def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
params: Params = None, enabled: bool = False) -> None:
if params is None:
params = Params()
@@ -40,7 +40,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
enabled = params.get_bool("NeuralNetworkLateralControl")
if enabled:
CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
@@ -61,8 +61,11 @@ def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
CP.radarUnavailable = False
def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
_initialize_neural_network_lateral_control(CP, CP_SP, params)
def setup_interfaces(CI: CarInterfaceBase, params: Params = None):
CP = CI.CP
CP_SP = CI.CP_SP
_initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
_initialize_radar_tracks(CP, CP_SP, 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_interfaces(CP, CP_SP, Params())
sunnypilot_interfaces.setup_interfaces(CI, 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_interfaces(CP, CP_SP, params)
sunnypilot_interfaces.setup_interfaces(CI, params)
CP_SP = convert_to_capnp(CP_SP)
sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+1 -1
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@@ -51,7 +51,7 @@ class TestNeuralNetworkLateralControl:
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP)
sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
sunnypilot_interfaces.setup_interfaces(CI, params)
CP_SP = convert_to_capnp(CP_SP)
VM = VehicleModel(CP)