selfdrive/car: ban selfdrive/controls (#33211)

ban controls (VM isn't used anymore)
pull/33212/head
Shane Smiskol 10 months ago committed by GitHub
parent 5909bcde62
commit 6c837332ea
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GPG Key ID: B5690EEEBB952194
  1. 1
      .importlinter
  2. 4
      selfdrive/car/body/carcontroller.py
  3. 4
      selfdrive/car/chrysler/carcontroller.py
  4. 5
      selfdrive/car/ford/carcontroller.py
  5. 4
      selfdrive/car/gm/carcontroller.py
  6. 4
      selfdrive/car/honda/carcontroller.py
  7. 4
      selfdrive/car/hyundai/carcontroller.py
  8. 6
      selfdrive/car/interfaces.py
  9. 4
      selfdrive/car/mazda/carcontroller.py
  10. 4
      selfdrive/car/nissan/carcontroller.py
  11. 4
      selfdrive/car/subaru/carcontroller.py
  12. 4
      selfdrive/car/tesla/carcontroller.py
  13. 4
      selfdrive/car/toyota/carcontroller.py
  14. 4
      selfdrive/car/volkswagen/carcontroller.py

@ -9,6 +9,7 @@ source_modules =
openpilot.selfdrive.car
forbidden_modules =
openpilot.common.params
openpilot.selfdrive.controls
openpilot.system
openpilot.body
openpilot.docs

@ -16,8 +16,8 @@ MAX_TURN_INTEGRATOR = 0.1 # meters
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.packer = CANPacker(dbc_name)
# PIDs

@ -6,8 +6,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.apply_steer_last = 0
self.hud_count = 0

@ -23,9 +23,8 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
self.VM = VM
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.packer = CANPacker(dbc_name)
self.CAN = fordcan.CanBus(CP)

@ -18,8 +18,8 @@ MIN_STEER_MSG_INTERVAL_MS = 15
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.start_time = 0.
self.apply_steer_last = 0
self.apply_gas = 0

@ -104,8 +104,8 @@ def rate_limit_steer(new_steer, last_steer):
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)

@ -43,8 +43,8 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)

@ -16,7 +16,6 @@ from openpilot.common.numpy_fast import clip
from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
from openpilot.selfdrive.car.values import PLATFORMS
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
from openpilot.selfdrive.pandad import can_capnp_to_list
ButtonType = car.CarState.ButtonEvent.Type
@ -91,7 +90,6 @@ def get_torque_params():
class CarInterfaceBase(ABC):
def __init__(self, CP, CarController, CarState):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.steering_unpressed = 0
@ -109,7 +107,7 @@ class CarInterfaceBase(ABC):
self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
dbc_name = "" if self.cp is None else self.cp.dbc_name
self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
self.CC: CarControllerBase = CarController(dbc_name, CP)
def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
return self.CC.update(c, self.CS, now_nanos)
@ -466,7 +464,7 @@ class CarStateBase(ABC):
class CarControllerBase(ABC):
def __init__(self, dbc_name: str, CP, VM):
def __init__(self, dbc_name: str, CP):
self.CP = CP
self.frame = 0

@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.apply_steer_last = 0
self.packer = CANPacker(dbc_name)
self.brake_counter = 0

@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.car_fingerprint = CP.carFingerprint
self.lkas_max_torque = 0

@ -12,8 +12,8 @@ MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.apply_steer_last = 0
self.cruise_button_prev = 0

@ -7,8 +7,8 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.apply_angle_last = 0
self.packer = CANPacker(dbc_name)
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])

@ -26,8 +26,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.params = CarControllerParams(self.CP)
self.last_steer = 0
self.last_angle = 0

@ -12,8 +12,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
super().__init__(dbc_name, CP, VM)
def __init__(self, dbc_name, CP):
super().__init__(dbc_name, CP)
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)

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