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This commit is contained in:
Jason Wen
2024-11-12 19:58:15 -05:00
parent d2cbdeb683
commit 0fa1ff07f5
2 changed files with 4 additions and 45 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: ed8fe80fd9...a9981d5a2c
sunnypilot/selfdrive/car/interfaces.py
+3 -44
View File
@@ -7,58 +7,17 @@ ButtonType = structs.CarState.ButtonEvent.Type
class CarInterfaceBaseSP(ABC):
def __init__(self, CP: structs.CarParams, CarController, CarState):
self.CP = CP
self.CS: CarStateBaseSP = CarState(CP)
self.cp = self.CS.get_can_parser(CP)
self.cp_cam = self.CS.get_cam_can_parser(CP)
self.cp_adas = self.CS.get_adas_can_parser(CP)
self.cp_body = self.CS.get_body_can_parser(CP)
self.cp_loopback = self.CS.get_loopback_can_parser(CP)
self.can_parsers = (self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback)
dbc_name = "" if self.cp is None else self.cp.dbc_name
self.CC: CarControllerBaseSP = CarController(dbc_name, CP)
self.mads_enabled_toggle = False
self.mads_enabled = False
def update_prevs(self):
self.CS.mads_enabled_toggle = self.mads_enabled_toggle
self.CS.mads_enabled = self.mads_enabled
def update_prevs(self, CS):
CS.mads_enabled_toggle = self.mads_enabled_toggle
CS.mads_enabled = self.mads_enabled
class CarStateBaseSP(ABC):
def __init__(self, CP: structs.CarParams):
self.CP = CP
self.alt_button = 0
self.mads_enabled_toggle = False
self.mads_enabled = False
self.button_events: list[structs.CarState.ButtonEvent] = []
@staticmethod
def get_can_parser(CP):
return None
@staticmethod
def get_cam_can_parser(CP):
return None
@staticmethod
def get_adas_can_parser(CP):
return None
@staticmethod
def get_body_can_parser(CP):
return None
@staticmethod
def get_loopback_can_parser(CP):
return None
class CarControllerBaseSP(ABC):
def __init__(self, dbc_name: str, CP: structs.CarParams):
self.CP = CP
self.frame = 0