Common interface attribute function (#24731)

* replace get_attr_from_cars with get_interface_attr

* and not combining the brands

* explicit check

* minimize diff

* values

selfdrive/car/car_helpers.py

@@ -1,9 +1,11 @@
 import os
-from typing import Any, Dict, List
+from typing import Dict, List
 
+from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
 from selfdrive.version import is_comma_remote, is_tested_branch
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
@@ -11,7 +13,6 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
-from cereal import car
 EventName = car.CarEvent.EventName
 
 
@@ -59,19 +60,6 @@ def load_interfaces(brand_names):
   return ret
 
 
-def get_interface_attr(attr: str) -> Dict[str, Any]:
-  # returns given attribute from each interface
-  brand_names = {}
-  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
-    try:
-      brand_name = car_folder.split('/')[-1]
-      attr_data = getattr(__import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]), attr, None)
-      brand_names[brand_name] = attr_data
-    except (ImportError, OSError):
-      pass
-  return brand_names
-
-
 def _get_interface_names() -> Dict[str, List[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}

selfdrive/car/docs.py

@@ -15,8 +15,7 @@ from selfdrive.car.tests.routes import non_tested_cars
 
 def get_all_footnotes() -> Dict[Enum, int]:
   all_footnotes = []
-  for _, footnotes in get_interface_attr("Footnote").items():
+  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    if footnotes is not None:
     all_footnotes += footnotes
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
@@ -28,8 +27,7 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
-  for models in get_interface_attr("CAR_INFO").values():
+  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    for model, car_info in models.items():
     # Hyundai exception: those with radar have openpilot longitudinal
     fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
     CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)

selfdrive/car/fingerprints.py

@@ -1,44 +1,12 @@
-import os
+from selfdrive.car.interfaces import get_interface_attr
-from common.basedir import BASEDIR
 
 
-def get_attr_from_cars(attr, result=dict, combine_brands=True):
+FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
-  # read all the folders in selfdrive/car and return a dict where:
+_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
-  # - keys are all the car models
-  # - values are attr values from all car folders
-  result = result()
-
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr])
-      if hasattr(values, attr):
-        attr_values = getattr(values, attr)
-      else:
-        continue
-
-      if isinstance(attr_values, dict):
-        for f, v in attr_values.items():
-          if combine_brands:
-            result[f] = v
-          else:
-            if car_name not in result:
-              result[car_name] = {}
-            result[car_name][f] = v
-      elif isinstance(attr_values, list):
-        result += attr_values
-
-    except (ImportError, OSError):
-      pass
-
-  return result
-
-
-FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
-_FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
+
 def is_valid_for_fingerprint(msg, car_fingerprint):
   adr = msg.address
   # ignore addresses that are more than 11 bits

selfdrive/car/fw_versions.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import struct
 import traceback
-from typing import Any, List
 from collections import defaultdict
 from dataclasses import dataclass
-
+from typing import Any, List
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
-from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
+from selfdrive.car.interfaces import get_interface_attr
+from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.swaglog import cloudlog
@@ -303,7 +303,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
   addrs = []
   parallel_addrs = []
 
-  versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
   if extra is not None:
     versions.update(extra)
 

selfdrive/car/interfaces.py

@@ -1,13 +1,14 @@
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Dict, Tuple, List
+from typing import Any, Dict, Tuple, List
 
 from cereal import car
+from common.basedir import BASEDIR
+from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
-from common.conversions import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -22,7 +23,6 @@ ACCEL_MIN = -3.5
 
 # generic car and radar interfaces
 
-
 class CarInterfaceBase(ABC):
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
@@ -293,3 +293,31 @@ class CarStateBase(ABC):
   @staticmethod
   def get_loopback_can_parser(CP):
     return None
+
+
+# interface-specific helpers
+
+def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]:
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car models or brand names
+  # - values are attr values from all car folders
+  result = {}
+  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
+    try:
+      brand_name = car_folder.split('/')[-1]
+      brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr])
+      if hasattr(brand_values, attr) or not ignore_none:
+        attr_data = getattr(brand_values, attr, None)
+      else:
+        continue
+
+      if combine_brands:
+        if isinstance(attr_data, dict):
+          for f, v in attr_data.items():
+            result[f] = v
+      else:
+        result[brand_name] = attr_data
+    except (ImportError, OSError):
+      pass
+
+  return result

selfdrive/car/tests/test_docs.py

@@ -18,7 +18,7 @@ class TestCarDocs(unittest.TestCase):
                      "Run selfdrive/car/docs.py to generate new supported cars documentation")
 
   def test_missing_car_info(self):
-    all_car_info_platforms = [p for i in get_interface_attr("CAR_INFO").values() for p in i]
+    all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
     for platform in sorted(interfaces.keys()):
       if platform not in all_car_info_platforms:
         self.fail("Platform: {} doesn't exist in CarInfo".format(platform))