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Code Issues Packages Projects Releases Wiki Activity

Abstract out common CarInterface.apply (#31924)

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old-commit-hash: 3a7582d9a6
This commit is contained in:
Adeeb Shihadeh
2024-03-19 13:46:31 -07:00
committed by GitHub
parent 1f218e4169
commit cd74ed0489
15 changed files with 10 additions and 55 deletions
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selfdrive/car/body/interface.py
-3
View File
@@ -37,6 +37,3 @@ class CarInterface(CarInterfaceBase):
self.frame += 1
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/chrysler/interface.py
-3
View File
@@ -94,6 +94,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/ford/interface.py
-3
View File
@@ -71,6 +71,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/gm/interface.py
-3
View File
@@ -237,6 +237,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/honda/interface.py
-5
View File
@@ -257,8 +257,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/hyundai/interface.py
-3
View File
@@ -175,6 +175,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/interfaces.py
+5 -5
View File
@@ -93,10 +93,13 @@ class CarInterfaceBase(ABC):
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]
self.CC = None
self.CC: CarControllerBase = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP, self.VM)
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
return self.CC.update(c, self.CS, now_nanos)
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX
@@ -250,9 +253,6 @@ class CarInterfaceBase(ABC):
return reader
@abstractmethod
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
pass
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
@@ -460,7 +460,7 @@ SendCan = tuple[int, int, bytes, int]
class CarControllerBase(ABC):
@abstractmethod
def update(self, CC, CS, now_nanos) -> tuple[car.CarControl.Actuators, list[SendCan]]:
def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
pass
selfdrive/car/mazda/interface.py
-3
View File
@@ -48,6 +48,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/mock/interface.py
-4
View File
@@ -29,7 +29,3 @@ class CarInterface(CarInterfaceBase):
ret.vEgoRaw = self.sm[gps_sock].speed
return ret
def apply(self, c, now_nanos):
actuators = car.CarControl.Actuators.new_message()
return actuators, []
selfdrive/car/nissan/interface.py
-3
View File
@@ -42,6 +42,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/subaru/interface.py
-3
View File
@@ -114,6 +114,3 @@ class CarInterface(CarInterfaceBase):
def init(CP, logcan, sendcan):
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/tesla/interface.py
-3
View File
@@ -50,6 +50,3 @@ class CarInterface(CarInterfaceBase):
ret.events = self.create_common_events(ret).to_msg()
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/toyota/interface.py
-5
View File
@@ -200,8 +200,3 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
return ret
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/volkswagen/carcontroller.py
+4 -3
View File
@@ -18,6 +18,7 @@ class CarController(CarControllerBase):
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
self.apply_steer_last = 0
self.gra_acc_counter_last = None
@@ -26,7 +27,7 @@ class CarController(CarControllerBase):
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
def update(self, CC, CS, ext_bus, now_nanos):
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []
@@ -108,7 +109,7 @@ class CarController(CarControllerBase):
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
new_actuators = actuators.copy()
@@ -117,4 +118,4 @@ class CarController(CarControllerBase):
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
self.frame += 1
return new_actuators, can_sends, self.eps_timer_soft_disable_alert
return new_actuators, can_sends
selfdrive/car/volkswagen/interface.py
+1 -6
View File
@@ -19,8 +19,6 @@ class CarInterface(CarInterfaceBase):
self.ext_bus = CANBUS.cam
self.cp_ext = self.cp_cam
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
@@ -126,13 +124,10 @@ class CarInterface(CarInterfaceBase):
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
if self.eps_timer_soft_disable_alert:
if self.CC.eps_timer_soft_disable_alert:
events.add(EventName.steerTimeLimit)
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
return new_actuators, can_sends