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Revert "fix data type"

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This reverts commit 02355f44df.
This commit is contained in:
Jason Wen
2025-01-21 12:26:09 -05:00
parent 9cbce9968a
commit dbf1b8583f
2 changed files with 2 additions and 65 deletions
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8
selfdrive/car/card.py
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@@ -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)

59
selfdrive/car/helpers.py
View File

@@ -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