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common flags, no dbc grouping

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pull/31607/head
Shane Smiskol 1 year ago
parent 4c6d5be45f
commit 726b9215bb
2 changed files with 90 additions and 68 deletions
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  1. 15
      selfdrive/car/__init__.py
  2. 143
      selfdrive/car/toyota/values.py

15
selfdrive/car/__init__.py
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@ -260,20 +260,27 @@ class CarSpecs:
@dataclass(order=True)
class PlatformConfig:
class PlatformConfig(Freezable):
platform_str: str
car_info: CarInfos
dbc_dict: DbcDict | None = None
dbc_dict: DbcDict
flags: int = 0
specs: CarSpecs | None = None
def __hash__(self) -> int:
return hash(self.platform_str)
def init_config(self):
def override(self, **kwargs):
return replace(self, **kwargs)
def init(self):
pass
def __post_init__(self):
self.init()
self.freeze()
class Platforms(str, ReprEnum):
config: PlatformConfig

143
selfdrive/car/toyota/values.py
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@ -47,14 +47,14 @@ class ToyotaFlags(IntFlag):
DISABLE_RADAR = 4
class StaticToyotaFlags(IntFlag):
class ToyotaPlatformFlags(IntFlag):
TSS2 = 1
NO_DSU = 2
UNSUPPORTED_DSU_CAR = 4
RADAR_ACC_CAR = 8
UNSUPPORTED_DSU = 4
RADAR_ACC = 8
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL_CAR = 16
NO_STOP_TIMER_CAR = 32
ANGLE_CONTROL = 16
NO_STOP_TIMER = 32
class Footnote(Enum):
@ -78,30 +78,13 @@ class ToyotaTSSPPlatformConfig(PlatformConfig):
class ToyotaTSS2PlatformConfig(PlatformConfig):
dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
@dataclass
class ToyotaTSS2PlatformConfig(PlatformConfig):
dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
flags: int = ToyotaFlags.TSS2
@dataclass
class ToyotaPlatformConfig(PlatformConfig):
def init_config(self):
if self.platform_str in TSS2_CAR:
self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas')
else:
if self.platform_str in (CAR.PRIUS, CAR.CHR, CAR.CAMRY, CAR.AVALON_2019):
self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas')
if self.platform_str in (CAR.AVALON, CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_IS, CAR.LEXUS_NX, CAR.LEXUS_RC, CAR.LEXUS_RX):
self.dbc_dict = dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas')
else:
self.dbc_dict = dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas')
def init(self):
self.flags |= ToyotaPlatformFlags.TSS2 | ToyotaPlatformFlags.NO_STOP_TIMER | ToyotaPlatformFlags.NO_DSU
class CAR(Platforms):
# Toyota
ALPHARD_TSS2 = ToyotaPlatformConfig(
ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA ALPHARD 2020",
[
ToyotaCarInfo("Toyota Alphard 2019-20"),
@ -109,23 +92,25 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444)
),
AVALON = ToyotaPlatformConfig(
AVALON = PlatformConfig(
"TOYOTA AVALON 2016",
[
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18"),
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
AVALON_2019 = ToyotaPlatformConfig(
AVALON_2019 = PlatformConfig(
"TOYOTA AVALON 2019",
[
ToyotaCarInfo("Toyota Avalon 2019-21"),
ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
AVALON_TSS2 = ToyotaPlatformConfig(
AVALON_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA AVALON 2022", # TSS 2.5
[
ToyotaCarInfo("Toyota Avalon 2022"),
@ -133,15 +118,17 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CAMRY = ToyotaPlatformConfig(
CAMRY = PlatformConfig(
"TOYOTA CAMRY 2018",
[
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('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CAMRY_TSS2 = ToyotaPlatformConfig(
CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA CAMRY 2021", # TSS 2.5
[
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
@ -149,29 +136,33 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CHR = ToyotaPlatformConfig(
CHR = PlatformConfig(
"TOYOTA C-HR 2018",
[
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CHR_TSS2 = ToyotaPlatformConfig(
CHR_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA C-HR 2021",
[
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
flags=ToyotaPlatformFlags.RADAR_ACC,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
COROLLA = ToyotaPlatformConfig(
COROLLA = PlatformConfig(
"TOYOTA COROLLA 2017",
ToyotaCarInfo("Toyota Corolla 2017-19"),
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
COROLLA_TSS2 = ToyotaPlatformConfig(
COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA COROLLA TSS2 2019",
[
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
@ -185,15 +176,17 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
HIGHLANDER = ToyotaPlatformConfig(
HIGHLANDER = PlatformConfig(
"TOYOTA HIGHLANDER 2017",
[
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
HIGHLANDER_TSS2 = ToyotaPlatformConfig(
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA HIGHLANDER 2020",
[
ToyotaCarInfo("Toyota Highlander 2020-23"),
@ -201,21 +194,24 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
PRIUS = ToyotaPlatformConfig(
PRIUS = PlatformConfig(
"TOYOTA PRIUS 2017",
[
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
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('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.70, steerRatio=15.74, tireStiffnessFactor=0.6371)
),
PRIUS_V = ToyotaPlatformConfig(
PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533)
),
PRIUS_TSS2 = ToyotaPlatformConfig(
PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA PRIUS TSS2 2021",
[
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
@ -223,23 +219,26 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4 = ToyotaPlatformConfig(
RAV4 = PlatformConfig(
"TOYOTA RAV4 2017",
[
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
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(
RAV4H = PlatformConfig(
"TOYOTA RAV4 HYBRID 2017",
[
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('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2 = ToyotaPlatformConfig(
RAV4_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2019",
[
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
@ -247,49 +246,57 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2_2022 = ToyotaPlatformConfig(
RAV4_TSS2_2022 = PlatformConfig(
"TOYOTA RAV4 2022",
[
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.RADAR_ACC,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
RAV4_TSS2_2023 = ToyotaPlatformConfig(
RAV4_TSS2_2023 = PlatformConfig(
"TOYOTA RAV4 2023",
[
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
flags=StaticToyotaFlags.ANGLE_CONTROL_CAR,
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.RADAR_ACC | ToyotaPlatformFlags.ANGLE_CONTROL,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
MIRAI = ToyotaPlatformConfig(
MIRAI = PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5
ToyotaCarInfo("Toyota Mirai 2021"),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
SIENNA = ToyotaPlatformConfig(
SIENNA = PlatformConfig(
"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('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
# Lexus
LEXUS_CTH = ToyotaPlatformConfig(
LEXUS_CTH = PlatformConfig(
"LEXUS CT HYBRID 2018",
ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
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(
LEXUS_ES = PlatformConfig(
"LEXUS ES 2018",
[
ToyotaCarInfo("Lexus ES 2017-18"),
ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
],
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(
LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS ES 2019",
[
ToyotaCarInfo("Lexus ES 2019-24"),
@ -297,25 +304,28 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_IS = ToyotaPlatformConfig(
LEXUS_IS = PlatformConfig(
"LEXUS IS 2018",
ToyotaCarInfo("Lexus IS 2017-19"),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_IS_TSS2 = ToyotaPlatformConfig(
LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS IS 2023",
ToyotaCarInfo("Lexus IS 2022-23"),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_NX = ToyotaPlatformConfig(
LEXUS_NX = PlatformConfig(
"LEXUS NX 2018",
[
ToyotaCarInfo("Lexus NX 2018-19"),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
],
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(
LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS NX 2020",
[
ToyotaCarInfo("Lexus NX 2020-21"),
@ -323,17 +333,19 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_LC_TSS2 = ToyotaPlatformConfig(
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024",
ToyotaCarInfo("Lexus LC 2024"),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_RC = ToyotaPlatformConfig(
LEXUS_RC = PlatformConfig(
"LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_RX = ToyotaPlatformConfig(
LEXUS_RX = PlatformConfig(
"LEXUS RX 2016",
[
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@ -342,9 +354,10 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
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(
LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS RX 2020",
[
ToyotaCarInfo("Lexus RX 2020-22"),
@ -352,9 +365,11 @@ class CAR(Platforms):
],
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
LEXUS_GS_F = ToyotaPlatformConfig(
LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaPlatformFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
@ -586,18 +601,18 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_T
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
CAR.CHR_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
NO_DSU_CAR = CAR.with_flags(ToyotaPlatformFlags.NO_DSU)
# the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F}
UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaPlatformFlags.UNSUPPORTED_DSU)
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
RADAR_ACC_CAR = CAR.with_flags(ToyotaPlatformFlags.RADAR_ACC)
ANGLE_CONTROL_CAR = CAR.with_flags(StaticToyotaFlags.ANGLE_CONTROL_CAR)
ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaPlatformFlags.ANGLE_CONTROL)
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaPlatformFlags.NO_STOP_TIMER)
CAR.init_configs()
CAR_INFO = CAR.create_carinfo_map()

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