mirror of
https://github.com/infiniteCable2/openpilot.git
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DevTekVE
bffb2fb6fa
* bugfix: update parameter handling to use custom CarControlSP.Param and improve param retrieval * bump opendbc
45 lines
1.5 KiB
Python
45 lines
1.5 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import custom
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from opendbc.car import structs
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from openpilot.common.params import Params
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from sunnypilot.sunnylink.utils import get_param_as_byte
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class ParamStore:
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keys: list[str]
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_params: dict[str, custom.CarControlSP.Param]
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def __init__(self, CP: structs.CarParams):
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universal_params: list[str] = []
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brand_params: list[str] = []
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self.keys = universal_params + brand_params
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self._params = {}
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self.frame = 0
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def update(self, params: Params) -> None:
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self.frame += 1
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if self.frame % 300 != 0:
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return
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for key in self.keys:
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param_type = params.get_type(key).name.lower() # Using string instead of number because its "loose" dependency, and could change by OP at anytime.
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# Over engineering opportunity: It's possible this conversion is slow, we may check the value as params returns it for cache purposes. Not today.
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param_value = get_param_as_byte(key, params)
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if (existing_param := self._params.get(key)) is not None and existing_param.value == param_value:
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continue
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self._params[key] = custom.CarControlSP.Param(key=key, value=param_value, type=param_type)
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@property
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def param_list(self) -> list[custom.CarControlSP.Param]:
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return [v for k,v in self._params.items()]
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