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no more DBC

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pull/31607/head
Shane Smiskol 1 year ago
parent 6b94b71039
commit 639624e5f3
1 changed files with 32 additions and 69 deletions
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  1. 101
      selfdrive/car/toyota/values.py

101
selfdrive/car/toyota/values.py
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@ -105,7 +105,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CAMRY = ToyotaPlatformConfig(
@ -114,7 +114,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CAMRY_TSS2 = ToyotaPlatformConfig(
@ -123,7 +123,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CHR = ToyotaPlatformConfig(
@ -132,7 +132,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CHR_TSS2 = ToyotaPlatformConfig(
@ -141,13 +141,13 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', None),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
COROLLA = ToyotaPlatformConfig(
"TOYOTA COROLLA 2017",
ToyotaCarInfo("Toyota Corolla 2017-19"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
@ -163,7 +163,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
HIGHLANDER = ToyotaPlatformConfig(
@ -172,16 +172,16 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
HIGHLANDER_TSS2 = ToyotaPlatformConfig(
"TOYOTA HIGHLANDER 2020",
"TOYOTA HIGHLANDER 2020",
[
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
PRIUS = ToyotaPlatformConfig(
@ -191,13 +191,13 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
PRIUS_V = ToyotaPlatformConfig(
"TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
PRIUS_TSS2 = ToyotaPlatformConfig(
@ -206,7 +206,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4 = ToyotaPlatformConfig(
@ -215,7 +215,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4H = ToyotaPlatformConfig(
@ -224,7 +224,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2 = ToyotaPlatformConfig(
@ -233,7 +233,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2_2022 = ToyotaPlatformConfig(
@ -242,7 +242,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', None),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2_2023 = ToyotaPlatformConfig(
@ -251,19 +251,19 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', None),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
MIRAI = ToyotaPlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5
ToyotaCarInfo("Toyota Mirai 2021"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
SIENNA = ToyotaPlatformConfig(
"TOYOTA SIENNA 2018",
ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
@ -271,7 +271,7 @@ class CAR(Platforms):
LEXUS_CTH = ToyotaPlatformConfig(
"LEXUS CT HYBRID 2018",
ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_ES = ToyotaPlatformConfig(
@ -280,7 +280,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus ES 2017-18"),
ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_ES_TSS2 = ToyotaPlatformConfig(
@ -289,19 +289,19 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus ES 2019-24"),
ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_IS = ToyotaPlatformConfig(
"LEXUS IS 2018",
ToyotaCarInfo("Lexus IS 2017-19"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_IS_TSS2 = ToyotaPlatformConfig(
"LEXUS IS 2023",
ToyotaCarInfo("Lexus IS 2022-23"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_NX = ToyotaPlatformConfig(
@ -310,7 +310,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2018-19"),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_NX_TSS2 = ToyotaPlatformConfig(
@ -319,19 +319,19 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_LC_TSS2 = ToyotaPlatformConfig(
"LEXUS LC 2024",
ToyotaCarInfo("Lexus LC 2024"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_RC = ToyotaPlatformConfig(
"LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_RX = ToyotaPlatformConfig(
@ -343,7 +343,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_RX_TSS2 = ToyotaPlatformConfig(
@ -352,13 +352,13 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
],
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_GS_F = ToyotaPlatformConfig(
"LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"),
dbc_dict('NOTDONE', 'NOTDONE'),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
@ -584,43 +584,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
STEER_THRESHOLD = 100
# DBC = {
# CAR.RAV4H: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.RAV4: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
# CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
# CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
# CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
# CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
# CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
# CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
# CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
# CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
# CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
# }
# These cars have non-standard EPS torque scale factors. All others are 73
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})

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