From 670a3843338490fa7fbf23bbe7bf47c261ded9c8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 21 Jan 2025 12:47:11 -0500
Subject: [PATCH] Revert "Reapply "fix data type""

This reverts commit 5e95752fd5e7d754acdaa83855ec8868ece290f2.
---
 selfdrive/car/card.py    |  8 ++----
 selfdrive/car/helpers.py | 59 ----------------------------------------
 2 files changed, 2 insertions(+), 65 deletions(-)
 delete mode 100644 selfdrive/car/helpers.py

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index cd12c688f9..b28f4eb85c 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -21,7 +21,6 @@ from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.helpers import convert_to_capnp
 
 from openpilot.sunnypilot.mads.mads import MadsParams
 from openpilot.sunnypilot.selfdrive.car import interfaces
@@ -67,8 +66,7 @@ class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
   CP: car.CarParams
-  CP_SP: structs.CarParamsSP
-  CP_SP_capnp: custom.CarParamsSP
+  CP_SP: custom.CarParamsSP
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -172,9 +170,7 @@ class Car:
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     # Write CarParamsSP for controls
-    # convert to pycapnp representation for caching and logging
-    self.CP_capnp = convert_to_capnp(self.CP)
-    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
+    cp_sp_bytes = self.CP_SP.to_bytes()
     self.params.put("CarParamsSP", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
deleted file mode 100644
index 95a4d9889b..0000000000
--- a/selfdrive/car/helpers.py
+++ /dev/null
@@ -1,59 +0,0 @@
-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