move car.capnp to opendbc

cereal/car.capnp

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

selfdrive/car/car_specific.py

@@ -1,16 +1,16 @@
 from cereal import car
 import cereal.messaging as messaging
-from opendbc.car import DT_CTRL, structs
+from opendbc.car import DT_CTRL
 from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
 from openpilot.selfdrive.selfdrived.events import Events
 
-ButtonType = structs.CarState.ButtonEvent.Type
-GearShifter = structs.CarState.GearShifter
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
 EventName = car.OnroadEvent.EventName
-NetworkLocation = structs.CarParams.NetworkLocation
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 # TODO: the goal is to abstract this file into the CarState struct and make events generic
@@ -29,7 +29,7 @@ def update(self, CS: car.CarState):
 
 
 class CarSpecificEvents:
-  def __init__(self, CP: structs.CarParams):
+  def __init__(self, CP: car.CarParams):
     self.CP = CP
 
     self.steering_unpressed = 0
@@ -172,7 +172,7 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase,
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+  def create_common_events(self, CS: car.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
                            allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 

selfdrive/car/card.py

@@ -13,15 +13,14 @@
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car import DT_CTRL, carlog
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 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 CarSpecificEvents, MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
@@ -64,8 +63,7 @@ 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)
@@ -78,7 +76,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
-    self.last_actuators_output = structs.CarControl.Actuators()
+    self.last_actuators_output = car.CarControl.Actuators.new_message()
 
     self.params = Params()
 
@@ -99,7 +97,7 @@ def __init__(self, CI=None, RI=None) -> None:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+          cached_params = car.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.RI = get_radar_interface(self.CI.CP)
@@ -123,8 +121,8 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
-      safety_config = structs.CarParams.SafetyConfig()
-      safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
@@ -134,8 +132,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     # 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)
@@ -152,19 +149,19 @@ 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, car.RadarData]:
     """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: car.RadarData = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -184,7 +181,7 @@ def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
 
     return CS, RD
 
-  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
+  def update_events(self, CS: car.CarState, RD: car.RadarData):
     self.events.clear()
 
     CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
@@ -208,20 +205,20 @@ def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
 
     CS.events = self.events.to_msg()
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+  def state_publish(self, CS: car.CarState, RD: car.RadarData):
     """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
@@ -235,7 +232,7 @@ 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):
@@ -251,7 +248,7 @@ 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
@@ -269,7 +266,7 @@ def step(self):
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
     if not self.CP.passive and initialized:
-      self.controls_update(CS, self.sm['carControl'])
+      self.controls_update(CS, self.sm['carControl'].as_builder())
 
     self.initialized_prev = initialized
     self.CS_prev = CS.as_reader()

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)
-    if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params_capnp, car_interface)
+    LongControl(car_params)
+    if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+      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)