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car: initialize brand-related settings in opendbc (#1146)

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This commit is contained in:
Jason Wen
2025-08-19 23:54:07 -04:00
committed by GitHub
parent 9e3a35035a
commit fa0017fafc
3 changed files with 16 additions and 21 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: cf9b33143f...25d172711a
selfdrive/car/card.py
+3 -1
View File
@@ -107,8 +107,10 @@ class Car:
cached_params = _cached_params
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
fixed_fingerprint, init_params_list_sp)
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
self.CP = self.CI.CP
sunnypilot/selfdrive/car/interfaces.py
+12 -19
View File
@@ -4,11 +4,10 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from typing import Any
from opendbc.car import structs
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
@@ -23,22 +22,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
params: Params = None) -> None:
if params is None:
params = Params()
# Hyundai Custom Longitudinal Tuning
if CP.brand == 'hyundai':
hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
params: Params = None, enabled: bool = False) -> None:
if params is None:
@@ -64,5 +47,15 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
CP = CI.CP
CP_SP = CI.CP_SP
_initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
_initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
def initialize_params(params) -> list[dict[str, Any]]:
keys: list = []
# hyundai
keys.extend([
"HyundaiLongitudinalTuning"
])
return [{k: params.get(k, return_default=True)} for k in keys]