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75 lines
2.8 KiB
75 lines
2.8 KiB
7 months ago
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import capnp
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from typing import Any
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from cereal import car
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from opendbc.car import structs
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_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS
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def is_dataclass(obj):
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"""Similar to dataclasses.is_dataclass without instance type check checking"""
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return hasattr(obj, _FIELDS)
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def _asdictref_inner(obj) -> dict[str, Any] | Any:
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if is_dataclass(obj):
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ret = {}
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for field in getattr(obj, _FIELDS): # similar to dataclasses.fields()
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ret[field] = _asdictref_inner(getattr(obj, field))
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return ret
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elif isinstance(obj, (tuple, list)):
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return type(obj)(_asdictref_inner(v) for v in obj)
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else:
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return obj
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def asdictref(obj) -> dict[str, Any]:
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"""
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Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
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Note that the resulting dict will contain references to the original struct as a result
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"""
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if not is_dataclass(obj):
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raise TypeError("asdictref() should be called on dataclass instances")
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return _asdictref_inner(obj)
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def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
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struct_dict = asdictref(struct)
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if isinstance(struct, structs.CarParams):
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del struct_dict['lateralTuning']
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struct_capnp = car.CarParams.new_message(**struct_dict)
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# this is the only union, special handling
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which = struct.lateralTuning.which()
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struct_capnp.lateralTuning.init(which)
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lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
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setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
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elif isinstance(struct, structs.CarState):
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struct_capnp = car.CarState.new_message(**struct_dict)
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elif isinstance(struct, structs.CarControl.Actuators):
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struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
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elif isinstance(struct, structs.RadarData):
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struct_capnp = car.RadarData.new_message(**struct_dict)
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else:
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raise ValueError(f"Unsupported struct type: {type(struct)}")
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return struct_capnp
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def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
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# TODO: recursively handle any car struct as needed
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def remove_deprecated(s: dict) -> dict:
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return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
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struct_dict = struct.to_dict()
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struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
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struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
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struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
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struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
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return struct_dataclass
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