move car.capnp to opendbc

cereal/car.capnp

@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp

selfdrive/car/card.py

@@ -21,7 +21,6 @@
 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_carControl, convert_to_capnp
 
 REPLAY = "REPLAY" in os.environ
 
@@ -63,8 +62,7 @@ def can_send(msgs: list[CanData]) -> None:
 class Car:
  CI: CarInterfaceBase
  RI: RadarInterfaceBase
- CP: structs.CarParams
- CP_capnp: car.CarParams
+ CP: car.CarParams
 
  def __init__(self, CI=None, RI=None) -> None:
  self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -144,9 +142,7 @@ def __init__(self, CI=None, RI=None) -> None:
  self.params.put("CarParamsPrevRoute", prev_cp)
 
  # Write CarParams for controls and radard
- # convert to pycapnp representation for caching and logging
- self.CP_capnp = convert_to_capnp(self.CP)
- cp_bytes = self.CP_capnp.to_bytes()
+ cp_bytes = self.CP.to_bytes()
  self.params.put("CarParams", cp_bytes)
  self.params.put_nonblocking("CarParamsCache", cp_bytes)
  self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
@@ -160,19 +156,19 @@ def __init__(self, CI=None, RI=None) -> None:
  # card is driven by can recv, expected at 100Hz
  self.rk = Ratekeeper(100, print_delay_threshold=None)
 
- def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
+ def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
  """carState update loop, driven by can"""
 
  can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
  can_list = can_capnp_to_list(can_strs)
 
  # Update carState from CAN
- CS = convert_to_capnp(self.CI.update(can_list))
+ CS = self.CI.update(can_list)
  if self.CP.carName == 'mock':
  CS = self.mock_carstate.update(CS)
 
  # Update radar tracks from CAN
- RD: structs.RadarData | None = self.RI.update(can_list)
+ RD: structs.RadarDataT | None = self.RI.update(can_list)
 
  self.sm.update(0)
 
@@ -192,20 +188,20 @@ def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
 
  return CS, RD
 
- def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+ def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
  """carState and carParams publish loop"""
 
  # carParams - logged every 50 seconds (> 1 per segment)
  if self.sm.frame % int(50. / DT_CTRL) == 0:
  cp_send = messaging.new_message('carParams')
  cp_send.valid = True
- cp_send.carParams = self.CP_capnp
+ cp_send.carParams = self.CP
  self.pm.send('carParams', cp_send)
 
  # publish new carOutput
  co_send = messaging.new_message('carOutput')
  co_send.valid = self.sm.all_checks(['carControl'])
- co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
+ co_send.carOutput.actuatorsOutput = self.last_actuators_output
  self.pm.send('carOutput', co_send)
 
  # kick off controlsd step while we actuate the latest carControl packet
@@ -219,7 +215,7 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
  if RD is not None:
  tracks_msg = messaging.new_message('liveTracks')
  tracks_msg.valid = len(RD.errors) == 0
- tracks_msg.liveTracks = convert_to_capnp(RD)
+ tracks_msg.liveTracks = RD
  self.pm.send('liveTracks', tracks_msg)
 
  def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -235,7 +231,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
  if self.sm.all_alive(['carControl']):
  # send car controls over can
  now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
- self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
+ self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
  self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
  self.CC_prev = CC

selfdrive/car/tests/test_car_interfaces.py

@@ -12,7 +12,6 @@
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,6 +40,7 @@ def test_car_interfaces(self, car_name, data):
 
  car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
  experimental_long=args['experimental_long'], docs=False)
+ car_params = car_params.as_reader()
  car_interface = CarInterface(car_params, CarController, CarState)
  assert car_params
  assert car_interface
@@ -72,15 +72,15 @@ def test_car_interfaces(self, car_name, data):
  # Run car interface
  now_nanos = 0
  CC = car.CarControl.new_message(**cc_msg)
- CC = convert_carControl(CC.as_reader())
+ CC = CC.as_reader()
  for _ in range(10):
  car_interface.update([])
  car_interface.apply(CC, now_nanos)
  now_nanos += DT_CTRL * 1e9 # 10 ms
 
  CC = car.CarControl.new_message(**cc_msg)
  CC.enabled = True
- CC = convert_carControl(CC.as_reader())
+ CC = CC.as_reader()
  for _ in range(10):
  car_interface.update([])
  car_interface.apply(CC, now_nanos)
@@ -89,11 +89,10 @@ def test_car_interfaces(self, car_name, data):
  # Test controller initialization
  # TODO: wait until card refactor is merged to run controller a few times,
  # hypothesis also slows down significantly with just one more message draw
- car_params_capnp = convert_to_capnp(car_params).as_reader()
- LongControl(car_params_capnp)
+ LongControl(car_params)
  if car_params.steerControlType == CarParams.SteerControlType.angle:
- LatControlAngle(car_params_capnp, car_interface)
+ LatControlAngle(car_params, car_interface)
  elif car_params.lateralTuning.which() == 'pid':
- LatControlPID(car_params_capnp, car_interface)
+ LatControlPID(car_params, car_interface)
  elif car_params.lateralTuning.which() == 'torque':
- LatControlTorque(car_params_capnp, car_interface)
+ LatControlTorque(car_params, car_interface)

selfdrive/car/tests/test_models.py

@@ -1,6 +1,4 @@
 import capnp
-import copy
-import dataclasses
 import os
 import pytest
 import random
@@ -20,7 +18,6 @@
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -187,15 +184,15 @@ def tearDownClass(cls):
  del cls.can_msgs
 
  def setUp(self):
- self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
+ self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
  assert self.CI
 
  Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
 
  # TODO: check safetyModel is in release panda build
  self.safety = libpanda_py.libpanda
 
- cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
+ cfg = self.CP.safetyConfigs[-1]
  set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
  self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
  self.safety.init_tests()
@@ -220,7 +217,7 @@ def test_car_interface(self):
  # TODO: also check for checksum violations from can parser
  can_invalid_cnt = 0
  can_valid = False
- CC = structs.CarControl()
+ CC = structs.CarControl().as_reader()
 
  for i, msg in enumerate(self.can_msgs):
  CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -312,17 +309,17 @@ def test_car_controller(car_control):
 
  # Make sure we can send all messages while inactive
  CC = structs.CarControl()
- test_car_controller(CC)
+ test_car_controller(CC.as_reader())
 
  # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
  self.safety.set_cruise_engaged_prev(True)
  CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
- test_car_controller(CC)
+ test_car_controller(CC.as_reader())
 
  # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
  self.safety.set_controls_allowed(True)
  CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
- test_car_controller(CC)
+ test_car_controller(CC.as_reader())
 
  # Skip stdout/stderr capture with pytest, causes elevated memory usage
  @pytest.mark.nocapture
@@ -409,7 +406,7 @@ def test_panda_safety_carstate(self):
  selfdrived = SelfdriveD(CP=self.CP)
  selfdrived.initialized = True
  for idx, can in enumerate(self.can_msgs):
- CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
+ CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
  for msg in filter(lambda m: m.src in range(64), can.can):
  to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
  ret = self.safety.safety_rx_hook(to_send)

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -5,7 +5,6 @@
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ def test_saturation(self, car_name, controller):
  CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
  CP = CarInterface.get_non_essential_params(car_name)
  CI = CarInterface(CP, CarController, CarState)
- CP = convert_to_capnp(CP)
  VM = VehicleModel(CP)
 
  controller = controller(CP.as_reader(), CI)

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -5,14 +5,13 @@
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
  def setup_method(self):
  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
- self.VM = VehicleModel(convert_to_capnp(CP))
+ self.VM = VehicleModel(CP)
 
  def test_round_trip_yaw_rate(self):
  # TODO: fix VM to work at zero speed

selfdrive/debug/format_fingerprints.py

@@ -2,12 +2,16 @@
 import jinja2
 import os
 
+from cereal import car
 from openpilot.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
 
+Ecu = car.CarParams.Ecu
+
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
@@ -45,7 +49,7 @@
 {% for car, _ in FW_VERSIONS[brand].items() %}
  CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
- (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+ (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
  {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
  {{fw_version}},
@@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
  comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
  with open(fingerprints_file, "w") as f:
- f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
- FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
+ f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
+ FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
+ extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":

selfdrive/modeld/modeld.py

@@ -17,7 +17,6 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -184,7 +183,7 @@ def main(demo=False):
 
 
  if demo:
- CP = convert_to_capnp(get_demo_car_params())
+ CP = get_demo_car_params()
  else:
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.carName)