CAN parser dict

Author: lukasloetkolben

opendbc/car/car.capnp

@@ -622,6 +622,7 @@ struct CarParams {
     chryslerCusw @30;
     psa @31;
     fcaGiorgio @32;
+    rivian @33;
   }
 
   enum SteerControlType {

opendbc/car/rivian/carcontroller.py

@@ -1,16 +1,16 @@
 import copy
 from opendbc.can.packer import CANPacker
-from opendbc.car import apply_driver_steer_torque_limits
+from opendbc.car import Bus, apply_driver_steer_torque_limits
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.rivian.riviancan import create_lka_steering, create_acm_status, create_longitudinal
 from opendbc.car.rivian.values import CarControllerParams
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
+  def __init__(self, dbc_names, CP):
+    super().__init__(dbc_names, CP)
     self.CP = CP
-    self.frame = 0
     self.apply_steer_last = 0
-    self.packer = CANPacker(dbc_name)
+    self.packer = CANPacker(dbc_names[Bus.pt])
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators

opendbc/car/rivian/carstate.py

@@ -1,6 +1,6 @@
 import copy
 from opendbc.can.parser import CANParser
-from opendbc.car import structs
+from opendbc.car import Bus, structs
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.rivian.values import DBC, GEAR_MAP
 from opendbc.car.common.conversions import Conversions as CV
@@ -13,7 +13,10 @@ def __init__(self, CP):
     # Needed by carcontroller
     self.acm_lka_hba_cmd = None
 
-  def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
+  def update(self, can_parsers) -> structs.CarState:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.pt]
+    cp_adas = can_parsers[Bus.pt]
     ret = structs.CarState()
 
     # Vehicle speed
@@ -72,8 +75,8 @@ def update(self, cp, cp_cam, cp_adas, *_) -> structs.CarState:
     return ret
 
   @staticmethod
-  def get_can_parser(CP):
-    messages = [
+  def get_can_parsers(CP):
+    pt_messages = [
       # sig_address, frequency
       ("ESPiB1", 50),
       ("VDM_PropStatus", 50),
@@ -84,24 +87,20 @@ def get_can_parser(CP):
       ("VDM_AdasSts", 100)
     ]
 
-    return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
+    cam_messages = [
       ("ACM_longitudinalRequest", 100),
       ("ACM_AebRequest", 100),
       ("ACM_Status", 100),
       ("ACM_lkaHbaCmd", 100)
     ]
 
-    return CANParser(DBC[CP.carFingerprint]['pt'], messages, 2)
-
-  @staticmethod
-  def get_adas_can_parser(CP):
-    messages = [
+    adas_messages = [
       ("IndicatorLights", 10),
       # ("ACM_tsrCmd", 10),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]['pt'], messages, 1)
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
+      Bus.adas: CANParser(DBC[CP.carFingerprint][Bus.pt], adas_messages, 1)
+    }

opendbc/car/rivian/interface.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.rivian.values import CAR

opendbc/car/rivian/values.py

@@ -1,7 +1,7 @@
 from enum import IntFlag
 from opendbc.car.structs import CarParams
-from opendbc.car import structs
-from opendbc.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from opendbc.car import Bus, structs
+from opendbc.car import CarSpecs, PlatformConfig, Platforms
 from opendbc.car.docs_definitions import CarDocs
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -12,7 +12,7 @@ class CAR(Platforms):
   RIVIAN_R1S = PlatformConfig(
     [CarDocs("Rivian R1S", "All")],
     CarSpecs(mass=3206., wheelbase=3.08, steerRatio=15.2),
-    dbc_dict('rivian_can', None)
+    {Bus.pt: 'rivian_can'}
   )
 
 
@@ -56,10 +56,6 @@ class CarControllerParams:
   ACCEL_MIN = -3.48  # m/s^2
   ACCEL_MAX = 2.0  # m/s^2
 
-  def __init__(self, CP):
-    pass
-
-
 class RivianFlags(IntFlag):
   FLAG_RIVIAN_LONG_CONTROL = 1