GM: move to platform config (#31553)

* subaru platform config * forester wrong dbc * spacing * subaru car specs * someday! * more red diff * Move GM to platform config * Implement CarSpecs * Simplify centerToFront * Accidentally had subaru DBC * Fix typo in DBC name * done above * two spaces * that is moved up * fix hardcoded fingerprints * whitespace * values * better? * fix * bump * fix * fix --------- Co-authored-by: Justin Newberry <justin@comma.ai> old-commit-hash: 5012e15aa6
1 year ago · 0f78a52a22
parent 5cb007daf3
commit 0f78a52a22
5 changed files with 90 additions and 109 deletions
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -251,6 +251,7 @@ class CarSpecs:
  mass: float
  wheelbase: float
  steerRatio: float
+  centerToFrontRatio: float = field(default=0.5)
  minSteerSpeed: float = field(default=0.)
  minEnableSpeed: float = field(default=-1.)

--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -152,11 +152,7 @@ class CarInterface(CarInterfaceBase):
    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

    if candidate == CAR.VOLT:
-      ret.mass = 1607.
-      ret.wheelbase = 2.69
-      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
      ret.tireStiffnessFactor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh

      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
@ -165,61 +161,20 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
      ret.steerActuatorDelay = 0.2

-    elif candidate == CAR.MALIBU:
-      ret.mass = 1496.
-      ret.wheelbase = 2.83
-      ret.steerRatio = 15.8
-      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
-
-    elif candidate == CAR.HOLDEN_ASTRA:
-      ret.mass = 1363.
-      ret.wheelbase = 2.662
-      # Remaining parameters copied from Volt for now
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.7
-
    elif candidate == CAR.ACADIA:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 4353. * CV.LB_TO_KG
-      ret.wheelbase = 2.86
-      ret.steerRatio = 14.4  # end to end is 13.46
-      ret.centerToFront = ret.wheelbase * 0.4
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.BUICK_LACROSSE:
-      ret.mass = 1712.
-      ret.wheelbase = 2.91
-      ret.steerRatio = 15.8
-      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.BUICK_REGAL:
-      ret.mass = 3779. * CV.LB_TO_KG  # (3849+3708)/2
-      ret.wheelbase = 2.83  # 111.4 inches in meters
-      ret.steerRatio = 14.4  # guess for tourx
-      ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
-
-    elif candidate == CAR.CADILLAC_ATS:
-      ret.mass = 1601.
-      ret.wheelbase = 2.78
-      ret.steerRatio = 15.3
-      ret.centerToFront = ret.wheelbase * 0.5
-
    elif candidate == CAR.ESCALADE:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 5653. * CV.LB_TO_KG  # (5552+5815)/2
-      ret.wheelbase = 2.95  # 116 inches in meters
-      ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.5
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 2739.
-      ret.wheelbase = 3.302
-      ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.5
      ret.tireStiffnessFactor = 1.0

      if candidate == CAR.ESCALADE_ESV:
@ -231,19 +186,11 @@ class CarInterface(CarInterfaceBase):
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.BOLT_EUV:
-      ret.mass = 1669.
-      ret.wheelbase = 2.63779
-      ret.steerRatio = 16.8
-      ret.centerToFront = ret.wheelbase * 0.4
      ret.tireStiffnessFactor = 1.0
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.SILVERADO:
-      ret.mass = 2450.
-      ret.wheelbase = 3.75
-      ret.steerRatio = 16.3
-      ret.centerToFront = ret.wheelbase * 0.5
      ret.tireStiffnessFactor = 1.0
      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
      # with foot on brake to allow engagement, but this platform only has that check in the camera.
@ -253,17 +200,9 @@ class CarInterface(CarInterfaceBase):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.EQUINOX:
-      ret.mass = 3500. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 14.4
-      ret.centerToFront = ret.wheelbase * 0.4
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.TRAILBLAZER:
-      ret.mass = 1345.
-      ret.wheelbase = 2.64
-      ret.steerRatio = 16.8
-      ret.centerToFront = ret.wheelbase * 0.4
      ret.tireStiffnessFactor = 1.0
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -1,9 +1,8 @@
-from collections import defaultdict
-from dataclasses import dataclass
-from enum import Enum, StrEnum
+from dataclasses import dataclass, field
+from enum import Enum

 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

@ -61,23 +60,6 @@ class CarControllerParams:
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]


-class CAR(StrEnum):
-  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
-  VOLT = "CHEVROLET VOLT PREMIER 2017"
-  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
-  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
-  ACADIA = "GMC ACADIA DENALI 2018"
-  BUICK_LACROSSE = "BUICK LACROSSE 2017"
-  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
-  ESCALADE = "CADILLAC ESCALADE 2017"
-  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
-  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
-  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
-  EQUINOX = "CHEVROLET EQUINOX 2019"
-  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
-
-
 class Footnote(Enum):
  OBD_II = CarFootnote(
    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
@ -97,28 +79,88 @@ class GMCarInfo(CarInfo):
      self.footnotes.append(Footnote.OBD_II)


-CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = {
-  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
-  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
-  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
-  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
-  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EUV: [
+@dataclass
+class GMPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+
+class CAR(Platforms):
+  HOLDEN_ASTRA = GMPlatformConfig(
+    "HOLDEN ASTRA RS-V BK 2017",
+    GMCarInfo("Holden Astra 2017"),
+    specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
+  )
+  VOLT = GMPlatformConfig(
+    "CHEVROLET VOLT PREMIER 2017",
+    GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
+    specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
+  )
+  CADILLAC_ATS = GMPlatformConfig(
+    "CADILLAC ATS Premium Performance 2018",
+    GMCarInfo("Cadillac ATS Premium Performance 2018"),
+    specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
+  )
+  MALIBU = GMPlatformConfig(
+    "CHEVROLET MALIBU PREMIER 2017",
+    GMCarInfo("Chevrolet Malibu Premier 2017"),
+    specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
+  )
+  ACADIA = GMPlatformConfig(
+    "GMC ACADIA DENALI 2018",
+    GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+    specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  BUICK_LACROSSE = GMPlatformConfig(
+    "BUICK LACROSSE 2017",
+    GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
+    specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
+  )
+  BUICK_REGAL = GMPlatformConfig(
+    "BUICK REGAL ESSENCE 2018",
+    GMCarInfo("Buick Regal Essence 2018"),
+    specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  ESCALADE = GMPlatformConfig(
+    "CADILLAC ESCALADE 2017",
+    GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
+    specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
+  )
+  ESCALADE_ESV = GMPlatformConfig(
+    "CADILLAC ESCALADE ESV 2016",
+    GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+    specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
+  )
+  ESCALADE_ESV_2019 = GMPlatformConfig(
+    "CADILLAC ESCALADE ESV 2019",
+    GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
+    specs=ESCALADE_ESV.specs,
+  )
+  BOLT_EUV = GMPlatformConfig(
+    "CHEVROLET BOLT EUV 2022",
+    [
      GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
      GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
    ],
-  CAR.SILVERADO: [
+    specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
+  )
+  SILVERADO = GMPlatformConfig(
+    "CHEVROLET SILVERADO 1500 2020",
+    [
      GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
      GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
    ],
-  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
-  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
-}
+    specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
+  )
+  EQUINOX = GMPlatformConfig(
+    "CHEVROLET EQUINOX 2019",
+    GMCarInfo("Chevrolet Equinox 2019-22"),
+    specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  TRAILBLAZER = GMPlatformConfig(
+    "CHEVROLET TRAILBLAZER 2021",
+    GMCarInfo("Chevrolet Trailblazer 2021-22"),
+    specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
+  )


 class CruiseButtons:
@ -180,11 +222,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )

-DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
-
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}

 STEER_THRESHOLD = 1.0
+
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -118,6 +118,7 @@ class CarInterfaceBase(ABC):
        ret.mass = platform_config.specs.mass
        ret.wheelbase = platform_config.specs.wheelbase
        ret.steerRatio = platform_config.specs.steerRatio
+        ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
        ret.minEnableSpeed = platform_config.specs.minEnableSpeed
        ret.minSteerSpeed = platform_config.specs.minSteerSpeed

--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -41,9 +41,6 @@ class CarInterface(CarInterfaceBase):
    else:
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-
-    ret.centerToFront = ret.wheelbase * 0.5
-
    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
      ret.steerActuatorDelay = 0.3   # end-to-end angle controller
      ret.lateralTuning.init('pid')