CarController: call to super's init (#33148)

* this should be common

* super!

* bump

* and frame is common

* bump

selfdrive/car/body/carcontroller.py

@@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.frame = 0
+    super().__init__(dbc_name, CP, VM)
     self.packer = CANPacker(dbc_name)
 
     # PIDs

selfdrive/car/chrysler/carcontroller.py

@@ -7,9 +7,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
-    self.frame = 0
 
     self.hud_count = 0
     self.last_lkas_falling_edge = 0

selfdrive/car/chrysler/radar_interface.py

@@ -39,7 +39,6 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.CP = CP
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG

selfdrive/car/ford/carcontroller.py

@@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.VM = VM
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
-    self.frame = 0
 
     self.apply_curvature_last = 0
     self.main_on_last = False

selfdrive/car/gm/carcontroller.py

@@ -19,12 +19,11 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
     self.apply_brake = 0
-    self.frame = 0
     self.last_steer_frame = 0
     self.last_button_frame = 0
     self.cancel_counter = 0

selfdrive/car/honda/carcontroller.py

@@ -105,11 +105,10 @@ def rate_limit_steer(new_steer, last_steer):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)
-    self.frame = 0
 
     self.braking = False
     self.brake_steady = 0.

selfdrive/car/hyundai/carcontroller.py

@@ -44,12 +44,11 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
-    self.frame = 0
 
     self.accel_last = 0
     self.apply_steer_last = 0

selfdrive/car/interfaces.py

@@ -344,6 +344,7 @@ class CarInterfaceBase(ABC):
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
+    self.CP = CP
     self.rcp = None
     self.pts = {}
     self.delay = 0
@@ -466,7 +467,8 @@ SendCan = tuple[int, int, bytes, int]
 
 class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP, VM):
-    pass
+    self.CP = CP
+    self.frame = 0
 
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:

selfdrive/car/mazda/carcontroller.py

@@ -10,11 +10,10 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0
-    self.frame = 0
 
   def update(self, CC, CS, now_nanos):
     can_sends = []

selfdrive/car/nissan/carcontroller.py

@@ -10,9 +10,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.car_fingerprint = CP.carFingerprint
-    self.frame = 0
 
     self.lkas_max_torque = 0
     self.apply_angle_last = 0

selfdrive/car/subaru/carcontroller.py

@@ -13,9 +13,8 @@ MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.apply_steer_last = 0
-    self.frame = 0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0

selfdrive/car/tesla/carcontroller.py

@@ -8,8 +8,7 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
-    self.frame = 0
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])

selfdrive/car/tesla/radar_interface.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.CP = CP
 
     if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       messages = [('RadarStatus', 16)]

selfdrive/car/toyota/carcontroller.py

@@ -27,9 +27,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.params = CarControllerParams(self.CP)
-    self.frame = 0
     self.last_steer = 0
     self.last_angle = 0
     self.alert_active = False

selfdrive/car/volkswagen/carcontroller.py

@@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
-    self.CP = CP
+    super().__init__(dbc_name, CP, VM)
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
@@ -21,7 +21,6 @@ class CarController(CarControllerBase):
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
-    self.frame = 0
     self.eps_timer_soft_disable_alert = False
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0