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)