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honda: pass CP_SP into the Bosch-A radar interface

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sunnypilot's RadarInterfaceBase.__init__ takes (CP, CP_SP); the upstream file
only took CP, so constructing the radar interface raised
'RadarInterfaceBase.__init__() missing 1 required positional argument: CP_SP'.
Build CP_SP in the tests as well and pass it through.
This commit is contained in:
Comma Device
2026-09-16 19:06:32 +08:00
parent 3c4bc731c2
commit 5fbf020db6
2 changed files with 8 additions and 5 deletions
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opendbc_repo/opendbc/car/honda/radar_interface.py
+2 -2
View File
@@ -206,8 +206,8 @@ def _create_bosch_a_can_parser(CP):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
def __init__(self, CP, CP_SP):
super().__init__(CP, CP_SP)
self.radar_off_can = CP.radarUnavailable
self.bosch_a_radar = (not self.radar_off_can and Bus.radar in DBC[CP.carFingerprint] and
DBC[CP.carFingerprint][Bus.radar] == BOSCH_A_DBC_NAME)
opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
+6 -3
View File
@@ -45,6 +45,7 @@ _SWITCH.unlink(missing_ok=True)
# Parser behavior is tested directly with an explicitly available CP. Production availability is
# separately gated below by HONDA_BOSCH_A_RADAR_VERIFIED and the developer parameter.
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH)
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC_BOSCH)
CP.radarUnavailable = False
BUS = CanBus(CP).camera
@@ -108,7 +109,7 @@ def make_main_frames(slot, frame_idx, status, range_raw, angle_raw, life, track_
def make_radar_interface():
return CarInterface.RadarInterface(CP)
return CarInterface.RadarInterface(CP, CP_SP)
def sweep(slot, frame_idx, status, range_raw, angle_raw, life, t_nanos, with_aux=False, aux_frame_idx=None,
@@ -1097,8 +1098,9 @@ def test_civic_bosch_radar_dbc_wired_for_parser_unit_tests():
def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
cp = CarInterface.get_non_essential_params(CAR.HONDA_CRV_5G)
cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_CRV_5G)
assert cp.radarUnavailable is False
ri = CarInterface.RadarInterface(cp)
ri = CarInterface.RadarInterface(cp, cp_sp)
assert ri.bosch_a_radar is True
assert ri.rcp is not None
assert ri.rcp.bus == CanBus(cp).camera
@@ -1106,8 +1108,9 @@ def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
def test_accord_bosch_a_radar_stays_disabled_until_validated():
cp = CarInterface.get_non_essential_params(CAR.HONDA_ACCORD)
cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_ACCORD)
assert cp.radarUnavailable is True
ri = CarInterface.RadarInterface(cp)
ri = CarInterface.RadarInterface(cp, cp_sp)
assert ri.bosch_a_radar is False
assert ri.rcp is None