Chrysler: clean up CarController (#24337)

* clean up

* max range is 15

* use wheel buttons counter and clean up

* no

* try spamming 10 times with next counter value

* try 50 hz

* this is dead code

* revert behavior changes, just clean up

* revert more

* also that

* no multiline can creation

* sort imports

selfdrive/car/chrysler/carcontroller.py

@@ -1,16 +1,16 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
-                                               create_wheel_buttons
 from selfdrive.car.chrysler.values import CAR, CarControllerParams
-from opendbc.can.packer import CANPacker
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
-    self.ccframe = 0
+    self.frame = 0
-    self.prev_frame = -1
+    self.prev_lkas_frame = -1
     self.hud_count = 0
     self.car_fingerprint = CP.carFingerprint
     self.gone_fast_yet = False
@@ -18,12 +18,13 @@ class CarController():
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
+  def update(self, CC, CS):
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    frame = CS.lkas_counter
+    if self.prev_lkas_frame == CS.lkas_counter:
-    if self.prev_frame == frame:
       return car.CarControl.Actuators.new_message(), []
 
+    actuators = CC.actuators
+
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
@@ -36,7 +37,7 @@ class CarController():
     elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
         self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and enabled
+    lkas_active = moving_fast and CC.enabled
 
     if not lkas_active:
       apply_steer = 0
@@ -45,28 +46,24 @@ class CarController():
 
     can_sends = []
 
-    #*** control msgs ***
+    # *** control msgs ***
 
-    if pcm_cancel_cmd:
+    if CC.cruiseControl.cancel:
       # TODO: would be better to start from frame_2b3
-      new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True)
+      can_sends.append(create_wheel_buttons(self.packer, self.frame, cancel=True))
-      can_sends.append(new_msg)
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
-    if (self.ccframe % 25 == 0):  # 0.25s period
+    if self.frame % 25 == 0:  # 0.25s period
-      if (CS.lkas_car_model != -1):
+      if CS.lkas_car_model != -1:
-        new_msg = create_lkas_hud(
+        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
-            self.packer, CS.out.gearShifter, lkas_active, hud_alert,
+                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
-            self.hud_count, CS.lkas_car_model)
-        can_sends.append(new_msg)
         self.hud_count += 1
 
-    new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
+    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
-    can_sends.append(new_msg)
 
-    self.ccframe += 1
+    self.frame += 1
-    self.prev_frame = frame
+    self.prev_lkas_frame = CS.lkas_counter
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX

selfdrive/car/chrysler/chryslercan.py

@@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False):
   # WHEEL_BUTTONS (571) Message sent to cancel ACC.
   values = {
     "ACC_CANCEL": cancel,
-    "COUNTER": frame % 10
+    "COUNTER": frame % 10  # FIXME: this counter is wrong
   }
   return packer.make_can_msg("WHEEL_BUTTONS", 0, values)

selfdrive/car/chrysler/interface.py

@@ -65,8 +65,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-
+    return self.CC.update(c, self.CS)
-    if (self.CS.frame == -1):
-      return car.CarControl.Actuators.new_message(), []  # if we haven't seen a frame 220, then do not update.
-
-    return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)