mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-05 00:05:57 +08:00
Jason Wen
213b977774
* carControlSP and move MADS to outside structs * publish it * apply to all car controller * migrate sunnypilotParams * migrate madsEnabled * tldr * convert to capnp * unused * wrong module * fix name * cancer is right (all tests should be passing now) * bump opendbc
60 lines
1.9 KiB
Python
60 lines
1.9 KiB
Python
import capnp
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from typing import Any
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from cereal import custom
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from opendbc.car import structs
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_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS
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def is_dataclass(obj):
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"""Similar to dataclasses.is_dataclass without instance type check checking"""
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return hasattr(obj, _FIELDS)
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def _asdictref_inner(obj) -> dict[str, Any] | Any:
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if is_dataclass(obj):
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ret = {}
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for field in getattr(obj, _FIELDS): # similar to dataclasses.fields()
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ret[field] = _asdictref_inner(getattr(obj, field))
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return ret
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elif isinstance(obj, (tuple, list)):
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return type(obj)(_asdictref_inner(v) for v in obj)
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else:
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return obj
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def asdictref(obj) -> dict[str, Any]:
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"""
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Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
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Note that the resulting dict will contain references to the original struct as a result
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"""
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if not is_dataclass(obj):
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raise TypeError("asdictref() should be called on dataclass instances")
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return _asdictref_inner(obj)
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def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
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struct_dict = asdictref(struct)
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if isinstance(struct, structs.CarParamsSP):
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struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
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else:
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raise ValueError(f"Unsupported struct type: {type(struct)}")
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return struct_capnp
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def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControlSP:
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# TODO: recursively handle any car struct as needed
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def remove_deprecated(s: dict) -> dict:
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return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
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struct_dict = struct.to_dict()
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struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
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struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
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return struct_dataclass
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