move car.capnp to opendbc

commaai · Sep 26, 2024 · 4f2ff43 · 4f2ff43
1 parent ba70397
commit 4f2ff43
Show file tree

Hide file tree

Showing 10 changed files with 17 additions and 734 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp
diff --git a/opendbc_repo b/opendbc_repo
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
@@ -58,7 +58,7 @@ std::vector<std::string> Panda::list(bool usb_only) {
   return serials;
 }
 
-void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
+void Panda::set_safety_model(car::CarParams::SafetyModel safety_model, uint16_t safety_param) {
   handle->control_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 

diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
@@ -62,7 +62,7 @@ class Panda {
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
-  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
+  void set_safety_model(car::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();

diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
@@ -26,7 +26,7 @@ void PandaSafety::updateMultiplexingMode() {
   if (!initialized_) {
     prev_obd_multiplexing_ = false;
     for (int i = 0; i < pandas_.size(); ++i) {
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+      pandas_[i]->set_safety_model(car::CarParams::SafetyModel::ELM327, 1U);
     }
     initialized_ = true;
   }
@@ -36,7 +36,7 @@ void PandaSafety::updateMultiplexingMode() {
   if (obd_multiplexing_requested != prev_obd_multiplexing_) {
     for (int i = 0; i < pandas_.size(); ++i) {
       const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+      pandas_[i]->set_safety_model(car::CarParams::SafetyModel::ELM327, safety_param);
     }
     prev_obd_multiplexing_ = obd_multiplexing_requested;
     params_.putBool("ObdMultiplexingChanged", true);
@@ -62,14 +62,14 @@ std::string PandaSafety::fetchCarParams() {
 void PandaSafety::setSafetyMode(const std::string &params_string) {
   AlignedBuffer aligned_buf;
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string.data(), params_string.size()));
-  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
+  car::CarParams::Reader car_params = cmsg.getRoot<car::CarParams>();
 
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
 
   for (int i = 0; i < pandas_.size(); ++i) {
     // Default to SILENT safety model if not specified
-    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
+    car::CarParams::SafetyModel safety_model = car::CarParams::SafetyModel::SILENT;
     uint16_t safety_param = 0U;
     if (i < safety_configs.size()) {
       safety_model = safety_configs[i].getSafetyModel();

diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
@@ -143,7 +143,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);
-  ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
+  ps.setSafetyModel(car::CarParams::SafetyModel(health.safety_mode_pkt));
   ps.setSafetyParam(health.safety_param_pkt);
   ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
   ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
@@ -245,8 +245,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     const auto &health = pandaStates[i];
 
     // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
-    if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+    if (health.safety_mode_pkt == (uint8_t)(car::CarParams::SafetyModel::SILENT)) {
+      panda->set_safety_model(car::CarParams::SafetyModel::NO_OUTPUT);
     }
 
     bool power_save_desired = !ignition_local;
@@ -255,8 +255,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     }
 
     // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
-    if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+    if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(car::CarParams::SafetyModel::NO_OUTPUT))) {
+      panda->set_safety_model(car::CarParams::SafetyModel::NO_OUTPUT);
     }
 
     if (!panda->comms_healthy()) {

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -149,7 +149,7 @@ void TogglesPanel::updateToggles() {
   if (!cp_bytes.empty()) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    car::CarParams::Reader CP = cmsg.getRoot<car::CarParams>();
 
     if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
       params.remove("ExperimentalLongitudinalEnabled");

diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
@@ -190,7 +190,7 @@ QPixmap bootstrapPixmap(const QString &id) {
   return pixmap;
 }
 
-bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
+bool hasLongitudinalControl(const car::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
   return car_params.getExperimentalLongitudinalAvailable()

diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
@@ -26,7 +26,7 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
 QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
-bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
+bool hasLongitudinalControl(const car::CarParams::Reader &car_params);
 
 struct InterFont : public QFont {
   InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") {

diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
@@ -24,7 +24,7 @@ bool PandaStream::connect() {
     return false;
   }
 
-  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+  panda->set_safety_model(car::CarParams::SafetyModel::SILENT);
   for (int bus = 0; bus < config.bus_config.size(); bus++) {
     panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);