Common CI._update function (#33289)

* use CP

* no car control, consistent _update function signatures

* eh it's fine to name it whatever

* clean up

* oops

* !!

* now we can delete this!

* nobody does anymore

selfdrive/car/body/carstate.py

@@ -5,7 +5,7 @@ from openpilot.selfdrive.car.body.values import DBC
 
 
 class CarState(CarStateBase):
-  def update(self, cp):
+  def update(self, cp, *_):
     ret = car.CarState.new_message()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']

selfdrive/car/body/interface.py

@@ -24,6 +24,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp)

selfdrive/car/chrysler/carstate.py

@@ -26,7 +26,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
 
     ret = car.CarState.new_message()
 

selfdrive/car/chrysler/interface.py

@@ -73,6 +73,3 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 720 in fingerprint[0]
 
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/ford/carstate.py

@@ -21,7 +21,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement

selfdrive/car/ford/interface.py

@@ -64,6 +64,3 @@ class CarInterface(CarInterfaceBase):
     ret.autoResumeSng = ret.minEnableSpeed == -1.
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/gm/carstate.py

@@ -34,7 +34,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, pt_cp, cam_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, _, __, loopback_cp):
     ret = car.CarState.new_message()
 
     prev_cruise_buttons = self.cruise_buttons

selfdrive/car/gm/interface.py

@@ -193,7 +193,3 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_loopback)

selfdrive/car/honda/carstate.py

@@ -110,7 +110,7 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, _, cp_body, __):
     ret = car.CarState.new_message()
 
     # car params

selfdrive/car/honda/interface.py

@@ -214,7 +214,3 @@ class CarInterface(CarInterfaceBase):
   def init(CP, can_recv, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
       disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_body)

selfdrive/car/hyundai/carstate.py

@@ -58,7 +58,7 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
 

selfdrive/car/hyundai/interface.py

@@ -146,6 +146,3 @@ class CarInterface(CarInterfaceBase):
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/interfaces.py

@@ -217,9 +217,8 @@ class CarInterfaceBase(ABC):
     tune.torque.latAccelOffset = 0.0
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
-  @abstractmethod
   def _update(self) -> car.CarState:
-    pass
+    return self.CS.update(*self.can_parsers)
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
@@ -292,7 +291,7 @@ class CarStateBase(ABC):
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
   @abstractmethod
-  def update(self, *args) -> car.CarState:
+  def update(self, cp, cp_cam, cp_adas, cp_body, cp_loopback) -> car.CarState:
     pass
 
   def update_speed_kf(self, v_ego_raw):

selfdrive/car/mazda/carstate.py

@@ -24,7 +24,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
 
     ret = car.CarState.new_message()
 

selfdrive/car/mazda/interface.py

@@ -28,7 +28,3 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.41
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/mock/interface.py

@@ -14,6 +14,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 13.
     ret.dashcamOnly = True
     return ret
-
-  def _update(self):
-    return self.CS.update()

selfdrive/car/nissan/carstate.py

@@ -26,7 +26,7 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
-  def update(self, cp, cp_adas, cp_cam):
+  def update(self, cp, cp_cam, cp_adas, *_):
     ret = car.CarState.new_message()
 
     prev_distance_button = self.distance_button

selfdrive/car/nissan/interface.py

@@ -25,7 +25,3 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_adas, self.cp_cam)

selfdrive/car/subaru/carstate.py

@@ -16,7 +16,7 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, _, cp_body, __):
     ret = car.CarState.new_message()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]

selfdrive/car/subaru/interface.py

@@ -96,10 +96,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_body)
-
   @staticmethod
   def init(CP, can_recv, can_send):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:

selfdrive/car/tesla/carstate.py

@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     # Vehicle speed

selfdrive/car/tesla/interface.py

@@ -38,6 +38,3 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
     return ret
-
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/toyota/carstate.py

@@ -49,7 +49,7 @@ class CarState(CarStateBase):
     self.acc_type = 1
     self.lkas_hud = {}
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, *_):
     ret = car.CarState.new_message()
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],

selfdrive/car/toyota/interface.py

@@ -141,7 +141,3 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam)

selfdrive/car/volkswagen/carstate.py

@@ -32,9 +32,12 @@ class CarState(CarStateBase):
 
     return button_events
 
-  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update(self, pt_cp, cam_cp, *_):
+
+    ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
+
     if self.CP.flags & VolkswagenFlags.PQ:
-      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
+      return self.update_pq(pt_cp, cam_cp, ext_cp)
 
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
@@ -73,11 +76,11 @@ class CarState(CarStateBase):
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
 
     # Update gear and/or clutch position data.
-    if trans_type == TransmissionType.automatic:
+    if self.CP.transmissionType == TransmissionType.automatic:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
-    elif trans_type == TransmissionType.direct:
+    elif self.CP.transmissionType == TransmissionType.direct:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
-    elif trans_type == TransmissionType.manual:
+    elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
       if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
         ret.gearShifter = GearShifter.reverse
@@ -155,7 +158,7 @@ class CarState(CarStateBase):
     self.frame += 1
     return ret
 
-  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update_pq(self, pt_cp, cam_cp, ext_cp):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -187,9 +190,9 @@ class CarState(CarStateBase):
     ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
 
     # Update gear and/or clutch position data.
-    if trans_type == TransmissionType.automatic:
+    if self.CP.transmissionType == TransmissionType.automatic:
       ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
-    elif trans_type == TransmissionType.manual:
+    elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
       reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
       if reverse_light:

selfdrive/car/volkswagen/interface.py

@@ -2,20 +2,10 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, NetworkLocation, TransmissionType, VolkswagenFlags
 
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    if CP.networkLocation == NetworkLocation.fwdCamera:
-      self.ext_bus = CANBUS.pt
-      self.cp_ext = self.cp
-    else:
-      self.ext_bus = CANBUS.cam
-      self.cp_ext = self.cp_cam
-
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -96,7 +86,3 @@ class CarInterface(CarInterfaceBase):
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
     return ret
-
-  # returns a car.CarState
-  def _update(self):
-    return self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)