car helpers file (#33379)

* helpers file

* clean up
old-commit-hash: 6d392a2e7b

selfdrive/car/card.py

@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
-import capnp
 import os
 import time
-from typing import Any
 
 import cereal.messaging as messaging
 
@@ -21,10 +19,10 @@ from opendbc.car.car_helpers import get_car
 from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
-_FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
 
 EventName = car.CarEvent.EventName
 
@@ -61,71 +59,6 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
-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) -> 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)
-  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
-
-
 class Car:
   CI: CarInterfaceBase
   CP: structs.CarParams

selfdrive/car/helpers.py

@@ -0,0 +1,72 @@
+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) -> 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)
+  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