interfaces returns RadarInterface (#1217)

interfaces returns radarinterface
commaai · Sep 3, 2024 · e1318f2 · e1318f2
1 parent ca3b5c4
commit e1318f2
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/opendbc/car/car_helpers.py b/opendbc/car/car_helpers.py
@@ -20,8 +20,9 @@ def load_interfaces(brand_names):
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
     CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
     CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
+    RadarInterface = __import__(path + '.radar_interface', fromlist=['RadarInterface']).RadarInterface
     for model_name in brand_names[brand_name]:
-      ret[model_name] = (CarInterface, CarController, CarState)
+      ret[model_name] = (CarInterface, CarController, CarState, RadarInterface)
   return ret
 
 

diff --git a/opendbc/car/tests/test_car_interfaces.py b/opendbc/car/tests/test_car_interfaces.py
@@ -2,7 +2,6 @@
 import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-import importlib
 from parameterized import parameterized
 from collections.abc import Callable
 from typing import Any
@@ -54,7 +53,7 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState = interfaces[car_name]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
@@ -104,7 +103,6 @@ def test_car_interfaces(self, car_name, data):
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test radar interface
-    RadarInterface = importlib.import_module(f'opendbc.car.{car_params.carName}.radar_interface').RadarInterface
     radar_interface = RadarInterface(car_params)
     assert radar_interface
 

diff --git a/opendbc/car/tests/test_lateral_limits.py b/opendbc/car/tests/test_lateral_limits.py
@@ -28,7 +28,7 @@ class TestLateralLimits:
 
   @classmethod
   def setup_class(cls):
-    CarInterface, _, _ = interfaces[cls.car_model]
+    CarInterface, _, _, _ = interfaces[cls.car_model]
     CP = CarInterface.get_non_essential_params(cls.car_model)
 
     if CP.dashcamOnly: