From 07bc45c81c12d19f6cb0d48c7ecfc2fe2cef67f8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 9 Aug 2024 22:36:33 -0700
Subject: [PATCH] remove some more cereal from toyota + convert CarState to
 capnp

---
 selfdrive/car/card.py             | 30 +++++++++++++++++-------------
 selfdrive/car/interfaces.py       |  8 +++++---
 selfdrive/car/toyota/carstate.py  |  3 +--
 selfdrive/car/toyota/interface.py |  2 +-
 4 files changed, 24 insertions(+), 19 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 6c209b8063..dbe16dd849 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import capnp
 import dataclasses
 import os
 import time
@@ -15,7 +16,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car.structs import CarParams, CarState
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
@@ -59,19 +60,22 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
-def convert_to_capnp(CP: CarParams) -> car.CarParams:
-  # TODO: better name or support CarState, CarControl, etc.
-  CP_dict = dataclasses.asdict(CP)
-  del CP_dict['lateralTuning']
-  CP_capnp = car.CarParams.new_message(**CP_dict)
+def convert_to_capnp(struct: CarParams | CarState) -> capnp.lib.capnp._DynamicStructBuilder:
+  struct_dict = dataclasses.asdict(struct)
 
-  # this is the only union, special handling
-  which = CP.lateralTuning.which()
-  CP_capnp.lateralTuning.init(which)
-  lateralTuning_dict = dataclasses.asdict(getattr(CP.lateralTuning, which))
-  setattr(CP_capnp.lateralTuning, which, lateralTuning_dict)
+  if isinstance(struct, CarParams):
+    del struct_dict['lateralTuning']
+    struct_capnp = car.CarParams.new_message(**struct_dict)
 
-  return CP_capnp
+    # this is the only union, special handling
+    which = struct.lateralTuning.which()
+    struct_capnp.lateralTuning.init(which)
+    lateralTuning_dict = dataclasses.asdict(getattr(struct.lateralTuning, which))
+    setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
+  else:
+    struct_capnp = car.CarState.new_message(**struct_dict)
+
+  return struct_capnp
 
 
 class Car:
@@ -161,7 +165,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
+    CS = convert_to_capnp(self.CI.update(self.CC_prev, can_capnp_to_list(can_strs)))
 
     self.sm.update(0)
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index fb10edd979..2827d44958 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,3 +1,4 @@
+import copy
 import json
 import os
 import numpy as np
@@ -124,7 +125,8 @@ class CarInterfaceBase(ABC):
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], experimental_long: bool, docs: bool) -> structs.CarParams:
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
+                 experimental_long: bool, docs: bool) -> structs.CarParams:
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -257,7 +259,7 @@ class CarInterfaceBase(ABC):
 
     # copy back for next iteration
     if self.CS is not None:
-      self.CS.out = ret.as_reader()
+      self.CS.out = copy.deepcopy(ret)
 
     return ret
 
@@ -362,7 +364,7 @@ class CarStateBase(ABC):
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
-    self.out = car.CarState.new_message()
+    self.out = structs.CarState()
 
     self.cruise_buttons = 0
     self.left_blinker_cnt = 0
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 80123bfebd..b6f16e96be 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,6 +1,5 @@
 import copy
 
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
@@ -51,7 +50,7 @@ class CarState(CarStateBase):
     self.lkas_hud = {}
 
   def update(self, cp, cp_cam) -> structs.CarState:
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
                         cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 71ee3e8d6d..c7c6fe0da1 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 SteerControlType = structs.CarParams.SteerControlType