def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
self.CC = None
if CarController is not None:
self.CC = CarController(canbus, CP.carFingerprint)
def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
