def __init__(self, CP, sendcan=None):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cam_can_valid_count = 0
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.forwarding_camera = False
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
def __init__(self, CP, CarController):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.CC = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)