carName -> brand (#34474)

* bump

* brand

* body is lower

opendbc_repo

@@ -1 +1 @@
-Subproject commit 8c4ed1b3f9520f29fc9e0522edac79473b064663
+Subproject commit fb81b6e7e73228b71502d09959d9bd1f49759c58

selfdrive/car/car_specific.py

@@ -42,19 +42,19 @@ class CarSpecificEvents:
     self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName in ('subaru', 'mazda'):
+    elif self.CP.brand in ('subaru', 'mazda'):
       events = self.create_common_events(CS, CS_prev)
 
-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
 
-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
       # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
       events = self.create_common_events(CS, CS_prev, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
             # while in standstill, send a user alert
             events.add(EventName.manualRestart)
 
-    elif self.CP.carName == 'gm':
+    elif self.CP.brand == 'gm':
       # The ECM allows enabling on falling edge of set, but only rising edge of resume
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                    GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise,
                                          enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
       # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
       # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
@@ -160,7 +160,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      raise ValueError(f"Unsupported car: {self.CP.brand}")
 
     return events
 

selfdrive/car/card.py

@@ -173,7 +173,7 @@ class Car:
 
     # Update carState from CAN
     CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN

selfdrive/car/tests/test_models.py

@@ -362,11 +362,11 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
           self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
 
@@ -421,7 +421,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -443,7 +443,7 @@ class TestCarModelBase(unittest.TestCase):
         if button_enable and not mismatch:
           self.safety.set_controls_allowed(False)
 
-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
       CS_prev = CS

selfdrive/controls/plannerd.py

@@ -14,7 +14,7 @@ def main():
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)

selfdrive/locationd/torqued.py

@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction

selfdrive/modeld/modeld.py

@@ -197,7 +197,7 @@ def main(demo=False):
     CP = get_demo_car_params()
   else:
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   steer_delay = CP.steerActuatorDelay + .2

selfdrive/selfdrived/events.py

@@ -314,7 +314,7 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 

selfdrive/selfdrived/selfdrived.py

@@ -87,7 +87,7 @@ class SelfdriveD:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:

selfdrive/test/process_replay/migration.py

@@ -381,7 +381,7 @@ def migrate_carParams(msgs):
     CP = msg.as_builder()
     CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
     for car_fw in CP.carParams.carFw:
-      car_fw.brand = CP.carParams.carName
+      car_fw.brand = CP.carParams.brand
     ops.append((index, CP.as_reader()))
   return ops, [], []
 

selfdrive/ui/tests/body.py

@@ -8,7 +8,7 @@ if __name__ == "__main__":
     batt = 1.
     while True:
       msg = messaging.new_message('carParams')
-      msg.carParams.carName = "BODY"
+      msg.carParams.brand = "body"
       msg.carParams.notCar = True
       pm.send('carParams', msg)
 

selfdrive/ui/tests/test_ui/run.py

@@ -118,7 +118,7 @@ def setup_onroad_wide_sidebar(click, pm: PubMaster):
   setup_onroad_wide(click, pm)
 
 def setup_body(click, pm: PubMaster):
-  DATA['carParams'].carParams.carName = "BODY"
+  DATA['carParams'].carParams.brand = "body"
   DATA['carParams'].carParams.notCar = True
   DATA['carState'].carState.charging = True
   DATA['carState'].carState.fuelGauge = 50.0

tools/plotjuggler/juggle.py

@@ -85,7 +85,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None):
   if dbc is None:
     for cp in [m for m in all_data if m.which() == 'carParams']:
       try:
-        DBC = __import__(f"opendbc.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
+        DBC = __import__(f"opendbc.car.{cp.carParams.brand}.values", fromlist=['DBC']).DBC
         fingerprint = cp.carParams.carFingerprint
         dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
       except Exception: