wip

selfdrive/car/card.py

@@ -18,6 +18,18 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 REPLAY = "REPLAY" in os.environ
 
+# Notes:
+# This is a generic class for interfacing between controlsd and specific implementations for a car.
+
+# Variables:
+# CI - carInterfaceBase
+# CP - carParams
+# CS - car state, should be consistent between every type of car
+
+# Methods:
+# state_update - calls CI.update, gets a new CS.  Read only, this is regenerated every time called.
+# state_publish - reads CS, CP, and carOutput.actuatorsOutput and sends via self.pm messaging
+# controls_update - reads CI.apply, gets canbus commands, publishes via self.pm, something else executes canbus commands
 
 class CarD:
   CI: CarInterfaceBase

selfdrive/car/hyundai/carstate.py

@@ -311,8 +311,6 @@ class CarState(CarStateBase):
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
 
     self.lkas_previously_enabled = self.lkas_enabled
-    
-    # CLEARPILOT fix
     lkas_enabled = False
     try:
       lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]

selfdrive/car/interfaces.py

@@ -22,6 +22,20 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+# Notes:
+
+# CarInterfaceBase 
+  # Has multiple functions.  Haven't figured them all out yet.
+  # It turns car state into events.
+  # It passes calls to update() to the specific cars interface.py (get car state)
+  # It passes calls to apply() to the specific cars interface.py (apply car state, gen canbus commands)
+
+# CarStateBase 
+  # carstate is variable (not event) based tracking of the current properties of the car
+  # such as which buttons are pressed or if blinkers are enabled.  It uses previous frame
+  # to detect transitions (previous lkas button vs lkas button, if not equal, button just pressed)
+  # - init - defines default values for carstate.
+
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName