Move car-specific changes to opendbc

selfdrive/controls/controlsd.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import math
 from typing import SupportsFloat
+import time
+import threading
 
 from cereal import car, log
 import cereal.messaging as messaging
@@ -59,6 +61,8 @@ class Controls:
     data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
     self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
 
+    self.enable_mads = self.params.get_bool("Mads")
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -165,6 +169,9 @@ class Controls:
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
+    sunnyLiveParams = CC.sunnyLiveParams
+    sunnyLiveParams.enableMads = self.enable_mads
+
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -211,13 +218,25 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.enable_mads = self.params.get_bool("Mads")
+      time.sleep(0.1)
+
   def run(self):
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e, ))
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
-      rk.monitor_time()
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)

sunnypilot/selfdrive/car/hyundai/carcontroller.py

@@ -1,38 +0,0 @@
-from abc import abstractmethod
-from collections import namedtuple
-
-from opendbc.car import DT_CTRL, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.interfaces import CarStateBase, CarControllerBase
-
-MadsDataSP = namedtuple("MadsDataSP",
-                        ["enabled_toggle", "lat_active", "disengaging", "paused"])
-
-
-class CarControllerSP(CarControllerBase):
-  def __init__(self, dbc_name: str, CP: structs.CarParams):
-    super().__init__(dbc_name, CP)
-    self.lat_disengage_blink = 0
-    self.lat_disengage_init = False
-    self.prev_lat_active = False
-
-  # display LFA "white_wheel" and LKAS "White car + lanes" when not CC.latActive
-  def mads_status_update(self, CS: CarStateBase, CC: structs.CarControl) -> MadsDataSP:
-    if CC.latActive:
-      self.lat_disengage_init = False
-    elif self.prev_lat_active:
-      self.lat_disengage_init = True
-
-    if not self.lat_disengage_init:
-      self.lat_disengage_blink = self.frame
-
-    paused = CC.madsActive and not CC.latActive
-    disengaging = (self.frame - self.lat_disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False
-
-    self.prev_lat_active = CC.latActive
-
-    return MadsDataSP(CS.mads_enabled_toggle, CC.latActive, disengaging, paused)
-
-  @abstractmethod
-  def update(self, CC: structs.CarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
-    pass

sunnypilot/selfdrive/car/interfaces.py

@@ -1,13 +0,0 @@
-from abc import ABC
-
-from opendbc.car import structs
-
-from openpilot.sunnypilot.mads.mads import MadsParams
-
-
-class CarStateBaseSP(ABC):
-  def __init__(self, CP: structs.CarParams):
-    self.alt_button = 0
-    self.mads_enabled_toggle = MadsParams().read_param("Mads")
-
-    self.main_cruise_enabled = False