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CarController: call to super's init (#33148)

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* this should be common

* super!

* bump

* and frame is common

* bump
old-commit-hash: 1b6ac2d876fe3170968944722df67ee815d8cb1b
This commit is contained in:
Shane Smiskol
2024-07-30 23:55:23 -07:00
committed by GitHub
parent aa31660327
commit b4b3ae5da8
15 changed files with 15 additions and 26 deletions
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selfdrive/car/body/carcontroller.py
+1 -1
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@@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1 # meters
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.frame = 0
super().__init__(dbc_name, CP, VM)
self.packer = CANPacker(dbc_name)
# PIDs
selfdrive/car/chrysler/carcontroller.py
+1 -2
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@@ -7,9 +7,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.apply_steer_last = 0
self.frame = 0
self.hud_count = 0
self.last_lkas_falling_edge = 0
selfdrive/car/chrysler/radar_interface.py
-1
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@@ -39,7 +39,6 @@ def _address_to_track(address):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.CP = CP
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set()
self.trigger_msg = LAST_MSG
selfdrive/car/ford/carcontroller.py
+1 -2
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@@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.VM = VM
self.packer = CANPacker(dbc_name)
self.CAN = fordcan.CanBus(CP)
self.frame = 0
self.apply_curvature_last = 0
self.main_on_last = False
selfdrive/car/gm/carcontroller.py
+1 -2
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@@ -19,12 +19,11 @@ MIN_STEER_MSG_INTERVAL_MS = 15
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.start_time = 0.
self.apply_steer_last = 0
self.apply_gas = 0
self.apply_brake = 0
self.frame = 0
self.last_steer_frame = 0
self.last_button_frame = 0
self.cancel_counter = 0
selfdrive/car/honda/carcontroller.py
+1 -2
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@@ -105,11 +105,10 @@ def rate_limit_steer(new_steer, last_steer):
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.frame = 0
self.braking = False
self.brake_steady = 0.
selfdrive/car/hyundai/carcontroller.py
+1 -2
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@@ -44,12 +44,11 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0
self.frame = 0
self.accel_last = 0
self.apply_steer_last = 0
selfdrive/car/interfaces.py
+3 -1
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@@ -344,6 +344,7 @@ class CarInterfaceBase(ABC):
class RadarInterfaceBase(ABC):
def __init__(self, CP):
self.CP = CP
self.rcp = None
self.pts = {}
self.delay = 0
@@ -466,7 +467,8 @@ SendCan = tuple[int, int, bytes, int]
class CarControllerBase(ABC):
def __init__(self, dbc_name: str, CP, VM):
pass
self.CP = CP
self.frame = 0
@abstractmethod
def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
selfdrive/car/mazda/carcontroller.py
+1 -2
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@@ -10,11 +10,10 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.apply_steer_last = 0
self.packer = CANPacker(dbc_name)
self.brake_counter = 0
self.frame = 0
def update(self, CC, CS, now_nanos):
can_sends = []
selfdrive/car/nissan/carcontroller.py
+1 -2
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@@ -10,9 +10,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.car_fingerprint = CP.carFingerprint
self.frame = 0
self.lkas_max_torque = 0
self.apply_angle_last = 0
selfdrive/car/subaru/carcontroller.py
+1 -2
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@@ -13,9 +13,8 @@ MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.apply_steer_last = 0
self.frame = 0
self.cruise_button_prev = 0
self.steer_rate_counter = 0
selfdrive/car/tesla/carcontroller.py
+1 -2
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@@ -8,8 +8,7 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.frame = 0
super().__init__(dbc_name, CP, VM)
self.apply_angle_last = 0
self.packer = CANPacker(dbc_name)
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
selfdrive/car/tesla/radar_interface.py
-1
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@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.CP = CP
if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages = [('RadarStatus', 16)]
selfdrive/car/toyota/carcontroller.py
+1 -2
View File
@@ -27,9 +27,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.params = CarControllerParams(self.CP)
self.frame = 0
self.last_steer = 0
self.last_angle = 0
self.alert_active = False
selfdrive/car/volkswagen/carcontroller.py
+1 -2
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@@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
super().__init__(dbc_name, CP, VM)
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
@@ -21,7 +21,6 @@ class CarController(CarControllerBase):
self.apply_steer_last = 0
self.gra_acc_counter_last = None
self.frame = 0
self.eps_timer_soft_disable_alert = False
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0