add car porting docs (#30704)
* add car porting docs * add cabana * absolute link * absolute link * absolute link * selfdrive/carpull/30659/head
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## Port structure |
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##### interface.py |
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# selfdrive/car |
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### Checkout this blogpost for a high level overview of car ports |
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https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/ |
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## Useful car porting utilities |
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Testing car ports in your car is very time consuming! Checkout these utilities to do basic checks on your work before running it in your car. |
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### [Cabana](/tools/cabana/README.md) |
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View your cars CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. |
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Example: |
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```bash |
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> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' |
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``` |
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### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py) |
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Given a route and platform, automatically inserts fw fingerprints from the platform into the correct place in values.py |
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Example: |
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```bash |
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> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' |
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Attempting to add fw version for: SUBARU OUTBACK 6TH GEN |
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``` |
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### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) |
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Finds common bugs for car interfaces, without even requiring a route! |
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#### Example: Typo in signal name |
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```bash |
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> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # (replace with the brand you are working on!) |
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===================================================================== |
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FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' |
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``` |
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### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py) |
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Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and mismatches. |
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#### Example: Panda safety mismatch for gasPressed |
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```bash |
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> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' |
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===================================================================== |
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FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) |
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Assert that panda safety matches openpilot's carState |
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---------------------------------------------------------------------- |
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Traceback (most recent call last): |
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File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate |
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self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") |
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AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} |
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``` |
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## Car Port structure |
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### interface.py |
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Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) |
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##### carcontroller.py |
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### carcontroller.py |
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Builds CAN messages to send to car |
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##### carstate.py |
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Reads CAN from car and builds openpilot CarState message |
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##### values.py |
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Fingerprints and absolute limits |
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Fingerprints, limits for actuation, car doc information, etc |
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##### radar_interface.py |
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Radar interface |
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Interface for parsing radar points from the car |
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