rename carState.radarOffCan to radarUnavailable (#27187)

* rename carState.radarOffCan to radarUnavailable

* bump cereal

cereal

@@ -1 +1 @@
-Subproject commit b27131e72f987f3bd0fcd28a42f686b583709e1f
+Subproject commit bdbac40160a550c88e481a3bf700a1016901bd9b

selfdrive/car/body/interface.py

@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
     ret.wheelSpeedFactor = SPEED_FROM_RPM
     ret.centerToFront = ret.wheelbase * 0.44
 
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
 

selfdrive/car/chrysler/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    ret.radarUnavailable = DBC[candidate]['radar'] is None
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 

selfdrive/car/ford/interface.py

@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     # These cars are dashcam only until the port is finished
     ret.dashcamOnly = True
 
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0

selfdrive/car/gm/carcontroller.py

@@ -114,7 +114,7 @@ class CarController:
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
-      if not self.CP.radarOffCan:
+      if not self.CP.radarUnavailable:
         tt = self.frame * DT_CTRL
         time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:

selfdrive/car/gm/interface.py

@@ -63,7 +63,7 @@ class CarInterface(CarInterfaceBase):
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarOffCan = True  # no radar
+      ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
@@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase):
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarOffCan = False
+      ret.radarUnavailable = False
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS

selfdrive/car/gm/radar_interface.py

@@ -36,7 +36,7 @@ class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
 
-    self.rcp = None if CP.radarOffCan else create_radar_can_parser(CP.carFingerprint)
+    self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()

selfdrive/car/honda/interface.py

@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
 
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
-      ret.radarOffCan = True
+      ret.radarUnavailable = True
 
       if candidate not in HONDA_BOSCH_RADARLESS:
         # Disable the radar and let openpilot control longitudinal

selfdrive/car/honda/radar_interface.py

@@ -21,7 +21,7 @@ class RadarInterface(RadarInterfaceBase):
     self.track_id = 0
     self.radar_fault = False
     self.radar_wrong_config = False
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
     self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar

selfdrive/car/hyundai/interface.py

@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "hyundai"
-    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
+    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is

selfdrive/car/hyundai/radar_interface.py

@@ -37,7 +37,7 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
     self.track_id = 0
 
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.rcp = get_radar_can_parser(CP)
 
   def update(self, can_strings):

selfdrive/car/mazda/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
 

selfdrive/car/nissan/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG

selfdrive/car/subaru/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "subaru"
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
     ret.autoResumeSng = False
 

selfdrive/car/tests/test_car_interfaces.py

@@ -76,7 +76,7 @@ class TestCarInterfaces(unittest.TestCase):
 
     # Run radar interface once
     radar_interface.update([])
-    if not car_params.radarOffCan and radar_interface.rcp is not None and \
+    if not car_params.radarUnavailable and radar_interface.rcp is not None and \
        hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
       radar_interface._update([radar_interface.trigger_msg])
 

selfdrive/car/volkswagen/interface.py

@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "volkswagen"
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs
 

selfdrive/test/process_replay/process_replay.py

@@ -204,7 +204,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm):
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
     return [], False
-  elif CP.radarOffCan:
+  elif CP.radarUnavailable:
     return ["radarState", "liveTracks"], True
 
   radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],