selfdrive/car: ban cereal and capnp (#33208)
* ban cereal and msgq
* common too
* do toyota/values.py
* do all fingerprints
* example without builder
* this still works, but no type checking anymore
* stash
* wtf, how does this work
* okay actually not bad
* safe
* epic!
* stash data_structures.py
* some clean up
* hell yeah
* clean up old file
* add to delete
* delete
This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf.
* switch more CarParams stuff over
remove unused
* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(
* fix this too
* fix this too
* remove more cereal and add some good hyundai tests
* bunch more typing
* override default with 20hz radar
* temp capnp converter helper
* more lateralTuning
* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues
* can keep all this the same now!
* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)
* revert more
* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(
would have been `CarParams.NetworkLocation()`
* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("
This reverts commit bb28b228becba932052d2fc5a4389784027435b1.
* remove cereal from car_helpers (TODO: caching)
* remove a bunch of temp lines
* use dataclass_transform!
* remove some car.CarParams from the interfaces
* remove rest of car.CarParams from the interfaces
* same which() API
* sort
* from cereal/cache from fingerprinting!
* more typing
* dataclass to capnp helper for CarParams, cached it since it's kinda slow
* (partial) fix process replay fingerprintig for new API
* latcontrollers take capnp
* forgot this
* fix test_models
* fix unit tests
* not here
* VehicleModel and controller still takes capnp CP since they get it from Params()
* fix modeld test
* more fix
* need to namespace to structs, since CarState is both class and struct
* this was never in the base class?!
* clean that up again
* fix import error
fix import error
* cmts and more structs
* remove some more cereal from toyota + convert CarState to capnp
* bruh this was wrong
* replace more cereal
* EventName is one of the last things...
* replace a bunch more cereal.car
* missing imports
* more
* can fix this typing now
* proper toyota+others CS typing!
* mypy can detect return type of CS.update() now
* fix redeclaration of cruise_buttons type
* mypy is only complaining about events now
* temp fix
* add carControl struct
* replace CarControl
i hope there's no circular imports in hyundai's CC
* fine now
* lol this was wrong too
* fix crash
* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )
but attrs does, maybe will switch in the future
* clean up
* try out attr.s for its converter (doesn't work recursively yet, but interesting!)
* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"
This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9.
* test processes doesn't fail anymore (on toyota)!
* fix honda crash
* stash
* Revert "stash"
This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0.
* remove a bunch more cereal!
* LET'S GOOO
* fix these tests
* and these
* and that
* stash, something is wrong with hyundai enable
* Revert "stash, something is wrong with hyundai enable"
This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03.
* forgot these
* remove cereal from fw_versions
* Revert "remove cereal from fw_versions"
This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56.
* remove rest of the cereal exceptions!
* fix that
* add typing to radard since I didn't realize RI.update() switched from cereal to structs
* and here too!
* add TODO for slots
* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )
* remove the struct converter
* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy
btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone
saves ~1% CPU
* add non-copying asdict function
* should save ~3% CPU (still 4% above baseline)
* fix that, no dict support
* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)
* give a better name
* fix
* dont support none, capitalize
* sheesh, this called type() on every field
* remove CS.events, clean up
* bump card %
* this was a bug on master!
* add a which enum
* default to pid
* revert
* update refs
* not needed, but consistent
* just Ecu
* don't need to do this in this pr
* clean up
* no cast
* consistent typing
* rm
* fix
* can do this if we're desperate for the last few %
* Revert "can do this if we're desperate for the last few %"
This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299.
* type this
* don't need to convert carControl
* i guess don't support set either
* fix CP type hint
* simplify that
old-commit-hash: 6a15c42143a4764e79df851d797f950a6212f464
9 months ago
from openpilot . selfdrive . car . structs import CarParams
from openpilot . selfdrive . car . ford . values import CAR
selfdrive/car: ban cereal and capnp (#33208)
* ban cereal and msgq
* common too
* do toyota/values.py
* do all fingerprints
* example without builder
* this still works, but no type checking anymore
* stash
* wtf, how does this work
* okay actually not bad
* safe
* epic!
* stash data_structures.py
* some clean up
* hell yeah
* clean up old file
* add to delete
* delete
This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf.
* switch more CarParams stuff over
remove unused
* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(
* fix this too
* fix this too
* remove more cereal and add some good hyundai tests
* bunch more typing
* override default with 20hz radar
* temp capnp converter helper
* more lateralTuning
* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues
* can keep all this the same now!
* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)
* revert more
* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(
would have been `CarParams.NetworkLocation()`
* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("
This reverts commit bb28b228becba932052d2fc5a4389784027435b1.
* remove cereal from car_helpers (TODO: caching)
* remove a bunch of temp lines
* use dataclass_transform!
* remove some car.CarParams from the interfaces
* remove rest of car.CarParams from the interfaces
* same which() API
* sort
* from cereal/cache from fingerprinting!
* more typing
* dataclass to capnp helper for CarParams, cached it since it's kinda slow
* (partial) fix process replay fingerprintig for new API
* latcontrollers take capnp
* forgot this
* fix test_models
* fix unit tests
* not here
* VehicleModel and controller still takes capnp CP since they get it from Params()
* fix modeld test
* more fix
* need to namespace to structs, since CarState is both class and struct
* this was never in the base class?!
* clean that up again
* fix import error
fix import error
* cmts and more structs
* remove some more cereal from toyota + convert CarState to capnp
* bruh this was wrong
* replace more cereal
* EventName is one of the last things...
* replace a bunch more cereal.car
* missing imports
* more
* can fix this typing now
* proper toyota+others CS typing!
* mypy can detect return type of CS.update() now
* fix redeclaration of cruise_buttons type
* mypy is only complaining about events now
* temp fix
* add carControl struct
* replace CarControl
i hope there's no circular imports in hyundai's CC
* fine now
* lol this was wrong too
* fix crash
* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )
but attrs does, maybe will switch in the future
* clean up
* try out attr.s for its converter (doesn't work recursively yet, but interesting!)
* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"
This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9.
* test processes doesn't fail anymore (on toyota)!
* fix honda crash
* stash
* Revert "stash"
This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0.
* remove a bunch more cereal!
* LET'S GOOO
* fix these tests
* and these
* and that
* stash, something is wrong with hyundai enable
* Revert "stash, something is wrong with hyundai enable"
This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03.
* forgot these
* remove cereal from fw_versions
* Revert "remove cereal from fw_versions"
This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56.
* remove rest of the cereal exceptions!
* fix that
* add typing to radard since I didn't realize RI.update() switched from cereal to structs
* and here too!
* add TODO for slots
* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )
* remove the struct converter
* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy
btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone
saves ~1% CPU
* add non-copying asdict function
* should save ~3% CPU (still 4% above baseline)
* fix that, no dict support
* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)
* give a better name
* fix
* dont support none, capitalize
* sheesh, this called type() on every field
* remove CS.events, clean up
* bump card %
* this was a bug on master!
* add a which enum
* default to pid
* revert
* update refs
* not needed, but consistent
* just Ecu
* don't need to do this in this pr
* clean up
* no cast
* consistent typing
* rm
* fix
* can do this if we're desperate for the last few %
* Revert "can do this if we're desperate for the last few %"
This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299.
* type this
* don't need to convert carControl
* i guess don't support set either
* fix CP type hint
* simplify that
old-commit-hash: 6a15c42143a4764e79df851d797f950a6212f464
9 months ago
Ecu = CarParams . Ecu
FW_VERSIONS = {
CAR . FORD_BRONCO_SPORT_MK1 : {
( Ecu . eps , 0x730 , None ) : [
b ' LX6C-14D003-AH \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-14D003-AK \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-14D003-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' LX6C-2D053-RD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-RE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-RF \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' LB5T-14D049-AB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' M1PT-14F397-AC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' M1PT-14F397-AD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_ESCAPE_MK4 : {
( Ecu . eps , 0x730 , None ) : [
b ' LX6C-14D003-AF \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-14D003-AH \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-14D003-AK \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-14D003-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' LX6C-2D053-NS \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-NT \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-NY \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-SA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LX6C-2D053-SD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' LB5T-14D049-AB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' LJ6T-14F397-AD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LJ6T-14F397-AE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LV4T-14F397-GG \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_EXPLORER_MK6 : {
( Ecu . eps , 0x730 , None ) : [
b ' L1MC-14D003-AJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-14D003-AK \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-14D003-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' M1MC-14D003-AB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' M1MC-14D003-AC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' P1MC-14D003-AA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' L1MC-2D053-AJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-BA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-BB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-BD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-BF \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-BJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' L1MC-2D053-KB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' LB5T-14D049-AB \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' LB5T-14F397-AD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LB5T-14F397-AE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LB5T-14F397-AF \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LC5T-14F397-AE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LC5T-14F397-AH \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_F_150_MK14 : {
( Ecu . eps , 0x730 , None ) : [
b ' ML3V-14D003-BC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' PL34-2D053-CA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' ML3T-14D049-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' ML3T-14H102-ABR \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' PJ6T-14H102-ABJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_F_150_LIGHTNING_MK1 : {
( Ecu . abs , 0x760 , None ) : [
b ' PL38-2D053-AA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' ML3T-14H102-ABT \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' ML3T-14D049-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_MUSTANG_MACH_E_MK1 : {
( Ecu . eps , 0x730 , None ) : [
b ' LJ9C-14D003-AM \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' LJ9C-14D003-CC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' LK9C-2D053-CK \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' ML3T-14D049-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' ML3T-14H102-ABS \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_FOCUS_MK4 : {
( Ecu . eps , 0x730 , None ) : [
b ' JX6C-14D003-AH \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' JX61-2D053-CJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' JX7T-14D049-AC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' JX7T-14F397-AH \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_MAVERICK_MK1 : {
( Ecu . eps , 0x730 , None ) : [
b ' NZ6C-14D003-AK \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' NZ6C-14D003-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' NZ6C-2D053-AE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' NZ6C-2D053-AG \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' PZ6C-2D053-ED \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' PZ6C-2D053-EE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
b ' PZ6C-2D053-EF \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' NZ6T-14D049-AA \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' NZ6T-14F397-AC \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
CAR . FORD_RANGER_MK2 : {
( Ecu . eps , 0x730 , None ) : [
b ' NL14-14D003-AE \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . abs , 0x760 , None ) : [
b ' PB3C-2D053-ZD \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdRadar , 0x764 , None ) : [
b ' ML3T-14D049-AL \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
( Ecu . fwdCamera , 0x706 , None ) : [
b ' PJ6T-14H102-ABJ \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 \x00 ' ,
] ,
} ,
}
