From 1df44de8dba1c941926627cd0453f581d2c64af0 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 29 Feb 2024 14:11:37 -0500
Subject: [PATCH] Tesla: move to platform config (#31648)

tesla platform config
old-commit-hash: 80807879de395ae87ae3bcd88cd83eaac24ca744
---
 selfdrive/car/tesla/interface.py | 10 +---------
 selfdrive/car/tesla/values.py    | 34 +++++++++++++++++++-------------
 2 files changed, 21 insertions(+), 23 deletions(-)

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index e06139729c..537433a350 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
+from openpilot.selfdrive.car.tesla.values import CANBUS
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -41,14 +41,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
 
-    if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
-      ret.mass = 2100.
-      ret.wheelbase = 2.959
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 15.0
-    else:
-      raise ValueError(f"Unsupported car: {candidate}")
-
     return ret
 
   def _update(self, c):
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 2a51d15da8..74d2debe1f 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,8 +1,8 @@
 from collections import namedtuple
-from enum import StrEnum
+from dataclasses import dataclass, field
 
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -11,21 +11,23 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
-class CAR(StrEnum):
-  AP1_MODELS = 'TESLA AP1 MODEL S'
-  AP2_MODELS = 'TESLA AP2 MODEL S'
+@dataclass
+class TeslaPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
 
 
-CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
-  CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
-  CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
-}
-
+class CAR(Platforms):
+  AP1_MODELS = TeslaPlatformConfig(
+    'TESLA AP1 MODEL S',
+    CarInfo("Tesla AP1 Model S", "All"),
+    specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
+  )
+  AP2_MODELS = TeslaPlatformConfig(
+    'TESLA AP2 MODEL S',
+    CarInfo("Tesla AP2 Model S", "All"),
+    specs=AP1_MODELS.specs
+  )
 
-DBC = {
-  CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
-  CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
-}
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -88,3 +90,7 @@ class CarControllerParams:
 
   def __init__(self, CP):
     pass
+
+
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()