interfaces/apply: follow capnp best practices (#23371)

commaai · Jan 4, 2022 · 05b905d · 05b905d
1 parent 5dc631f
commit 05b905d
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Showing 7 changed files with 30 additions and 23 deletions.
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -212,7 +212,8 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
-    hud_v_cruise = c.hudControl.setSpeed
+    hud_control = c.hudControl
+    hud_v_cruise = hud_control.setSpeed
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
@@ -222,8 +223,8 @@ def apply(self, c):
 
     ret = self.CC.update(enabled, self.CS, self.frame,
                          c.actuators,
-                         hud_v_cruise, c.hudControl.lanesVisible,
-                         c.hudControl.leadVisible, c.hudControl.visualAlert)
+                         hud_v_cruise, hud_control.lanesVisible,
+                         hud_control.leadVisible, hud_control.visualAlert)
 
     self.frame += 1
     return ret
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -432,18 +432,19 @@ def update(self, c, can_strings):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-    if c.hudControl.speedVisible:
-      hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
+    hud_control = c.hudControl
+    if hud_control.speedVisible:
+      hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH
     else:
       hud_v_cruise = 255
 
     ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                          c.actuators,
                          c.cruiseControl.cancel,
                          hud_v_cruise,
-                         c.hudControl.lanesVisible,
-                         hud_show_car=c.hudControl.leadVisible,
-                         hud_alert=c.hudControl.visualAlert)
+                         hud_control.lanesVisible,
+                         hud_show_car=hud_control.leadVisible,
+                         hud_alert=hud_control.visualAlert)
 
     self.frame += 1
     return ret
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -347,8 +347,9 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
+    hud_control = c.hudControl
     ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible,
-                         c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+                         c.cruiseControl.cancel, hud_control.visualAlert, hud_control.setSpeed, hud_control.leftLaneVisible,
+                         hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1
     return ret
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
@@ -78,9 +78,10 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
+    hud_control = c.hudControl
     ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, c.hudControl.visualAlert,
-                         c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
-                         c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+                         c.cruiseControl.cancel, hud_control.visualAlert,
+                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1
     return ret
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -122,8 +122,9 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
+    hud_control = c.hudControl
     ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, c.hudControl.visualAlert,
-                         c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+                         c.cruiseControl.cancel, hud_control.visualAlert,
+                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1
     return ret
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -287,11 +287,12 @@ def update(self, c, can_strings):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
+    hud_control = c.hudControl
     ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                          c.actuators, c.cruiseControl.cancel,
-                         c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
-                         c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
-                         c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+                         hud_control.visualAlert, hud_control.leftLaneVisible,
+                         hud_control.rightLaneVisible, hud_control.leadVisible,
+                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
 
     self.frame += 1
     return ret
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -216,11 +216,12 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
+    hud_control = c.hudControl
     ret = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
-                         c.hudControl.visualAlert,
-                         c.hudControl.leftLaneVisible,
-                         c.hudControl.rightLaneVisible,
-                         c.hudControl.leftLaneDepart,
-                         c.hudControl.rightLaneDepart)
+                         hud_control.visualAlert,
+                         hud_control.leftLaneVisible,
+                         hud_control.rightLaneVisible,
+                         hud_control.leftLaneDepart,
+                         hud_control.rightLaneDepart)
     self.frame += 1
     return ret