make CAR class enum, and values.py formatting

selfdrive/car/chrysler/values.py

@@ -1,7 +1,10 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
@@ -9,7 +12,7 @@ class CarControllerParams:
   STEER_ERROR_MAX = 80
 
 
-class CAR:
+class CAR(Enum):
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
@@ -18,6 +21,7 @@ class CAR:
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
 
+
 # Unique CAN messages:
 # Only the hybrids have 270: 8
 # Only the gas have 55: 8, 416: 7

selfdrive/car/ford/values.py

@@ -1,12 +1,16 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
 MAX_ANGLE = 87.  # make sure we never command the extremes (0xfff) which cause latching fault
 
-class CAR:
+
+class CAR(Enum):
   FUSION = "FORD FUSION 2018"
 
+
 DBC = {
   CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }

selfdrive/car/gm/values.py

@@ -1,8 +1,11 @@
+from enum import Enum
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
-class CarControllerParams():
+
+class CarControllerParams:
   STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
   STEER_STEP = 2  # control frames per command
   STEER_DELTA_UP = 7
@@ -36,9 +39,11 @@ class CarControllerParams():
   BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
+
 STEER_THRESHOLD = 1.0
 
-class CAR:
+
+class CAR(Enum):
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
@@ -47,6 +52,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
 
+
 class CruiseButtons:
   INIT = 0
   UNPRESS = 1
@@ -55,12 +61,14 @@ class CruiseButtons:
   MAIN = 5
   CANCEL = 6
 
+
 class AccState:
   OFF = 0
   ACTIVE = 1
   FAULTED = 3
   STANDSTILL = 4
 
+
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1
@@ -68,6 +76,7 @@ class CanBus:
   SW_GMLAN = 3
   LOOPBACK = 128
 
+
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
   CAR.HOLDEN_ASTRA: [{

selfdrive/car/honda/values.py

@@ -1,4 +1,4 @@
-from enum import IntFlag
+from enum import Enum, IntFlag
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -51,6 +51,7 @@ class CruiseButtons:
   CANCEL = 2
   MAIN = 1
 
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
@@ -63,7 +64,8 @@ VISUAL_HUD = {
   VisualAlert.speedTooHigh: 8
 }
 
-class CAR:
+
+class CAR(Enum):
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"
@@ -87,6 +89,7 @@ class CAR:
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
 
+
 FW_VERSIONS = {
   CAR.ACCORD: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [

selfdrive/car/hyundai/values.py

@@ -1,7 +1,10 @@
+from enum import Enum
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
+
 # Steer torque limits
 class CarControllerParams:
   ACCEL_MIN = -3.5  # m/s
@@ -22,7 +25,8 @@ class CarControllerParams:
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
 
-class CAR:
+
+class CAR(Enum):
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
@@ -74,6 +78,7 @@ class Buttons:
   GAP_DIST = 3
   CANCEL = 4
 
+
 FINGERPRINTS = {
   CAR.ELANTRA: [{
     66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8

selfdrive/car/mazda/values.py

@@ -1,3 +1,5 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
@@ -14,7 +16,8 @@ class CarControllerParams:
   STEER_DRIVER_FACTOR = 1         # from dbc
   STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
 
-class CAR:
+
+class CAR(Enum):
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
@@ -22,11 +25,13 @@ class CAR:
   CX9_2021 = "MAZDA CX-9 2021"
   CX5_2022 = "MAZDA CX-5 2022"
 
+
 class LKAS_LIMITS:
   STEER_THRESHOLD = 15
   DISABLE_SPEED = 45    # kph
   ENABLE_SPEED = 52     # kph
 
+
 class Buttons:
   NONE = 0
   SET_PLUS = 1

selfdrive/car/mock/values.py

@@ -1,2 +1,5 @@
-class CAR:
+from enum import Enum
+
+
+class CAR(Enum):
   MOCK = 'mock'

selfdrive/car/nissan/values.py

@@ -1,3 +1,5 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
@@ -10,7 +12,8 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
-class CAR:
+
+class CAR(Enum):
   XTRAIL = "NISSAN X-TRAIL 2017"
   LEAF = "NISSAN LEAF 2018"
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox

selfdrive/car/subaru/values.py

@@ -1,7 +1,10 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   def __init__(self, CP):
     if CP.carFingerprint == CAR.IMPREZA_2020:
@@ -15,7 +18,8 @@ class CarControllerParams:
     self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
-class CAR:
+
+class CAR(Enum):
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
@@ -25,6 +29,7 @@ class CAR:
   OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
   OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
+
 FINGERPRINTS = {
   CAR.IMPREZA: [{
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8

selfdrive/car/tesla/values.py

@@ -1,14 +1,18 @@
 from collections import namedtuple
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
-class CAR:
+
+class CAR(Enum):
   AP1_MODELS = 'TESLA AP1 MODEL S'
   AP2_MODELS = 'TESLA AP2 MODEL S'
 
+
 FINGERPRINTS = {
   CAR.AP2_MODELS: [
     {
@@ -27,6 +31,7 @@ DBC = {
   CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
 }
 
+
 class CANBUS:
   # Lateral harness
   chassis = 0
@@ -38,6 +43,7 @@ class CANBUS:
   private = 5
   autopilot_powertrain = 6
 
+
 GEAR_MAP = {
   "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
   "DI_GEAR_P": car.CarState.GearShifter.park,
@@ -59,6 +65,7 @@ BUTTONS = [
   Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
 ]
 
+
 class CarControllerParams:
   RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
   RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])

selfdrive/car/toyota/values.py

@@ -1,5 +1,5 @@
 from collections import defaultdict
-from enum import IntFlag
+from enum import Enum, IntFlag
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -24,7 +24,7 @@ class ToyotaFlags(IntFlag):
   HYBRID = 1
 
 
-class CAR:
+class CAR(Enum):
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
   AVALON = "TOYOTA AVALON 2016"

selfdrive/car/volkswagen/values.py

@@ -1,4 +1,5 @@
 from collections import defaultdict
+from enum import Enum
 from typing import Dict
 
 from cereal import car
@@ -9,6 +10,7 @@ NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
+
 class CarControllerParams:
   HCA_STEP = 2                   # HCA_01 message frequency 50Hz
   LDW_STEP = 10                  # LDW_02 message frequency 10Hz
@@ -27,13 +29,16 @@ class CarControllerParams:
   STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
   STEER_DRIVER_FACTOR = 1        # from dbc
 
+
 class CANBUS:
   pt = 0
   cam = 2
 
+
 class DBC_FILES:
   mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
 
+
 DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
 
 BUTTON_STATES = {
@@ -57,12 +62,13 @@ MQB_LDW_MESSAGES = {
   "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
 }
 
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
 # Exception: SEAT Leon and SEAT Ateca share a chassis code
 
-class CAR:
+class CAR(Enum):
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
   GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
@@ -87,6 +93,7 @@ class CAR:
   SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN"         # Chassis 3V/NP, Mk3 Skoda Superb and variants
   SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
+
 # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
 # with a manual trans won't return transmission firmware, but all other cars will.
 #