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)