Abstract out common CarInterface.apply (#31924)

old-commit-hash: 3a7582d9a6

selfdrive/car/body/interface.py

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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