You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
2.8 KiB
74 lines
2.8 KiB
import capnp
|
|
from typing import Any
|
|
|
|
from cereal import car
|
|
from opendbc.car import structs
|
|
|
|
_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS
|
|
|
|
|
|
def is_dataclass(obj):
|
|
"""Similar to dataclasses.is_dataclass without instance type check checking"""
|
|
return hasattr(obj, _FIELDS)
|
|
|
|
|
|
def _asdictref_inner(obj) -> dict[str, Any] | Any:
|
|
if is_dataclass(obj):
|
|
ret = {}
|
|
for field in getattr(obj, _FIELDS): # similar to dataclasses.fields()
|
|
ret[field] = _asdictref_inner(getattr(obj, field))
|
|
return ret
|
|
elif isinstance(obj, (tuple, list)):
|
|
return type(obj)(_asdictref_inner(v) for v in obj)
|
|
else:
|
|
return obj
|
|
|
|
|
|
def asdictref(obj) -> dict[str, Any]:
|
|
"""
|
|
Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
|
|
Note that the resulting dict will contain references to the original struct as a result
|
|
"""
|
|
if not is_dataclass(obj):
|
|
raise TypeError("asdictref() should be called on dataclass instances")
|
|
|
|
return _asdictref_inner(obj)
|
|
|
|
|
|
def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
|
|
struct_dict = asdictref(struct)
|
|
|
|
if isinstance(struct, structs.CarParams):
|
|
del struct_dict['lateralTuning']
|
|
struct_capnp = car.CarParams.new_message(**struct_dict)
|
|
|
|
# this is the only union, special handling
|
|
which = struct.lateralTuning.which()
|
|
struct_capnp.lateralTuning.init(which)
|
|
lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
|
|
setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
|
|
elif isinstance(struct, structs.CarState):
|
|
struct_capnp = car.CarState.new_message(**struct_dict)
|
|
elif isinstance(struct, structs.CarControl.Actuators):
|
|
struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
|
|
elif isinstance(struct, structs.RadarData):
|
|
struct_capnp = car.RadarData.new_message(**struct_dict)
|
|
else:
|
|
raise ValueError(f"Unsupported struct type: {type(struct)}")
|
|
|
|
return struct_capnp
|
|
|
|
|
|
def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
|
|
# TODO: recursively handle any car struct as needed
|
|
def remove_deprecated(s: dict) -> dict:
|
|
return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
|
|
|
|
struct_dict = struct.to_dict()
|
|
struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
|
|
|
|
struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
|
|
struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
|
|
struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
|
|
|
|
return struct_dataclass
|
|
|