hell yeah

selfdrive/car/data_structures.py

@@ -1,17 +1,33 @@
-from dataclasses import dataclass, fields, field, is_dataclass
+from dataclasses import dataclass as _dataclass, field, is_dataclass
 from enum import Enum, StrEnum as _StrEnum, auto
-# from typing import Type, TypeVar
+from typing import get_origin
-from typing import TypeVar, TYPE_CHECKING, Any, get_type_hints, get_origin
-from selfdrive.car.data_test_kinda_works_chatgpt import auto_field, apply_auto_fields
 
-if TYPE_CHECKING:
-    from _typeshed import DataclassInstance
-#
-# DataclassT = TypeVar("DataclassT", bound="DataclassInstance")
-#
-# T = TypeVar('T', bound='Struct')
 
-_FIELDS = '__dataclass_fields__'
+auto_obj = object()
+
+
+def auto_field():
+  return auto_obj
+
+
+def auto_dataclass(cls=None, /, **kwargs):
+  cls_annotations = cls.__dict__.get('__annotations__', {})
+  for name, typ in cls_annotations.items():
+    current_value = getattr(cls, name, None)
+    if current_value is auto_obj:
+      origin_typ = get_origin(typ) or typ
+      if isinstance(origin_typ, str):
+        raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
+      elif origin_typ in (int, float, str, bytes, list, tuple, set, dict, bool) or is_dataclass(origin_typ):
+        setattr(cls, name, field(default_factory=origin_typ))
+      elif origin_typ is None:
+        setattr(cls, name, field(default=origin_typ))
+      elif issubclass(origin_typ, Enum):  # first enum is the default
+        setattr(cls, name, field(default=next(iter(origin_typ))))
+      else:
+        raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
+
+  return _dataclass(cls, **kwargs)
 
 
 class StrEnum(_StrEnum):
@@ -21,74 +37,34 @@ class StrEnum(_StrEnum):
     return name
 
 
-# class Struct:
+@auto_dataclass
-#   @classmethod
-#   def new_message(cls, **kwargs):
-#     init_values = {}
-#     for f in fields(cls):
-#       init_values[f.name] = kwargs.get(f.name, f.type())
-#
-#     return cls(**init_values)
-
-T = TypeVar('T', bound='DataclassInstance')
-
-
-# class Struct:
-#   @classmethod
-#   def new_message(cls: type[T], **kwargs: Any) -> T:
-#     if not is_dataclass(cls):
-#       raise TypeError(f"{cls.__name__} is not a dataclass")
-#
-#     init_values = {}
-#     type_hints = get_type_hints(cls)
-#     print(type_hints)
-#     for f in fields(cls):
-#       field_type = type_hints[f.name]
-#       print(f.name, f.type, field_type)
-#       print(issubclass(field_type, Enum))
-#       if issubclass(field_type, Enum):
-#         init_values[f.name] = kwargs.get(f.name, list(field_type)[0])
-#         # TODO: fix this
-#         # assert issubclass(init_values[f.name], type(field_type)), f"Expected {field_type} for {f.name}, got {type(init_values[f.name])}"
-#       else:
-#         # FIXME: typing check hack since mypy doesn't catch anything
-#         init_values[f.name] = kwargs.get(f.name, field_type())
-#         print('field_type', field_type, f.type)
-#         # TODO: this is so bad
-#         assert isinstance(init_values[f.name], get_origin(f.type) or f.type), f"Expected {field_type} for {f.name}, got {type(init_values[f.name])}"
-#
-#     return cls(**init_values)
-
-
-@dataclass
 class RadarData:
-  errors: list['Error']
+  errors: list['Error'] = auto_field()
-  points: list['RadarPoint']
+  points: list['RadarPoint'] = auto_field()
 
   class Error(StrEnum):
     canError = auto()
     fault = auto()
     wrongConfig = auto()
 
-  @dataclass
+  @auto_dataclass
   class RadarPoint:
-    trackId: int  # no trackId reuse
+    trackId: int = auto_field()  # no trackId reuse
 
     # these 3 are the minimum required
-    dRel: float  # m from the front bumper of the car
+    dRel: float = auto_field()  # m from the front bumper of the car
-    yRel: float  # m
+    yRel: float = auto_field()  # m
-    vRel: float  # m/s
+    vRel: float = auto_field()  # m/s
 
     # these are optional and valid if they are not NaN
-    aRel: float  # m/s^2
+    aRel: float = auto_field()  # m/s^2
-    yvRel: float  # m/s
+    yvRel: float = auto_field()  # m/s
 
     # some radars flag measurements VS estimates
-    measured: bool
+    measured: bool = auto_field()
 
 
-@dataclass
+@auto_dataclass
-@apply_auto_fields
 class CarParams:
   carName: str = auto_field()
   carFingerprint: str = auto_field()
@@ -102,8 +78,7 @@ class CarParams:
     torque = auto()
     angle = auto()
 
-  @dataclass
+  @auto_dataclass
-  @apply_auto_fields
   class CarFw:
     ecu: 'CarParams.Ecu' = field(default_factory=lambda: CarParams.Ecu.unknown)
     fwVersion: bytes = auto_field()
@@ -149,61 +124,7 @@ class CarParams:
     debug = auto()
 
 
-# # CP: CarParams = CarParams.new_message(carName='toyota', fuzzyFingerprint=123)
+@auto_dataclass
-# # CP: CarParams = CarParams(carName='toyota', fuzzyFingerprint=123)
-#
-# # import ast
-#
-#
-# # test = ast.literal_eval('CarParams.CarFw')
-#
-# def mywrapper(cls):
-#
-#   cls_annotations = cls.__dict__.get('__annotations__', {})
-#   fields = {}
-#   for name, _type in cls_annotations.items():
-#     f = field(default_factory=_type)
-#     setattr(cls, name, f)
-#     fields[name] = f
-#
-#   setattr(cls, _FIELDS, fields)
-#
-#   print('cls_annotations', cls_annotations)
-#   # cls.hi = 123
-#
-#   return cls
-#
-#
-# # def mywrapper2(cls):
-# #   class Test:
-# #     pass
-# #   return Test
-#
-#
-# @dataclass
-# class CarControl1:
-#   enabled: bool
-#
-# @dataclass
-# class CarControl2:
-#   enabled: bool = field(default_factory=bool)
-#
-#
-# # @mywrapper2
-# @dataclass()
-# @mywrapper
-# class CarControl:
-#   # enabled: bool = field(default_factory=bool)
-#   enabled: bool = None
-#   pts: list[int] = None
-#   logMonoTime: int = None
-#
-#
-# CC = CarControl()
-
-
-@dataclass
-@apply_auto_fields
 class CarControl:
   enabled: bool = auto_field()
   pts: list[int] = auto_field()
@@ -212,8 +133,7 @@ class CarControl:
 
 
 # testing: if origin_typ in (int, float, str, bytes, list, tuple, set, dict, bool):
-@dataclass
+@auto_dataclass
-@apply_auto_fields
 class Test997:
   a: int = auto_field()
   b: float = auto_field()
@@ -233,4 +153,4 @@ CarControl()
 
 CP = CarParams()
 CP.carFw = [CarParams.CarFw()]
-CP.carFw = [CarParams.Ecu.eps]
+# CP.carFw = [CarParams.Ecu.eps]