From 0fa1ff07f5a06cafd1707adfde96a6ba1c43b97b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 12 Nov 2024 19:58:15 -0500
Subject: [PATCH] try this out

---
 opendbc_repo                           |  2 +-
 sunnypilot/selfdrive/car/interfaces.py | 47 ++------------------------
 2 files changed, 4 insertions(+), 45 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index ed8fe80fd9..a9981d5a2c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit ed8fe80fd967f748281fb891453ed099c97ba3f7
+Subproject commit a9981d5a2ceccf0cd73ed989a4c5a6999c2137fa
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 852a7b561c..c224513da2 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -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