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