From 9b72521ef25afb0298232acdbf47e7ed534efa34 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Aug 2024 16:17:08 -0700 Subject: [PATCH] remove a bunch of temp lines --- selfdrive/car/capnp_to_dataclass.py | 269 ---------------------------- 1 file changed, 269 deletions(-) diff --git a/selfdrive/car/capnp_to_dataclass.py b/selfdrive/car/capnp_to_dataclass.py index 85dc562a3f..014a360420 100644 --- a/selfdrive/car/capnp_to_dataclass.py +++ b/selfdrive/car/capnp_to_dataclass.py @@ -12,276 +12,7 @@ TYPE_MAP = { } TXT = """ - carName @0 :Text; - carFingerprint @1 :Text; - fuzzyFingerprint @55 :Bool; - notCar @66 :Bool; # flag for non-car robotics platforms - - pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? - enableDsu @5 :Bool; # driving support unit - enableBsm @56 :Bool; # blind spot monitoring - flags @64 :UInt32; # flags for car specific quirks - experimentalLongitudinalAvailable @71 :Bool; - - minEnableSpeed @7 :Float32; - minSteerSpeed @8 :Float32; - safetyConfigs @62 :List(SafetyConfig); - alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas - - # Car docs fields - maxLateralAccel @68 :Float32; - autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically - - # things about the car in the manual - mass @17 :Float32; # [kg] curb weight: all fluids no cargo - wheelbase @18 :Float32; # [m] distance from rear axle to front axle - centerToFront @19 :Float32; # [m] distance from center of mass to front axle - steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle - steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) - - # things we can derive - rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia - tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] - tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff - tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff - - longitudinalTuning @25 :LongitudinalPIDTuning; - lateralParams @48 :LateralParams; - lateralTuning :union { - pid @26 :LateralPIDTuning; - indiDEPRECATED @27 :LateralINDITuning; - lqrDEPRECATED @40 :LateralLQRTuning; - torque @67 :LateralTorqueTuning; - } - - steerLimitAlert @28 :Bool; - steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued - - vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state - vEgoStarting @59 :Float32; # Speed at which the car goes into starting state - stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping - steerControlType @34 :SteerControlType; - radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out - stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary - stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop - startAccel @32 :Float32; # Required acceleration to get car moving - startingState @70 :Bool; # Does this car make use of special starting state - - steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds - longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds - openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? - carVin @38 :Text; # VIN number queried during fingerprinting - dashcamOnly @41: Bool; - passive @73: Bool; # is openpilot in control? - transmissionType @43 :TransmissionType; - carFw @44 :List(CarFw); - - radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard - fingerprintSource @49: FingerprintSource; - networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network - - wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds - - struct SafetyConfig { - safetyModel @0 :SafetyModel; - safetyParam @3 :UInt16; - safetyParamDEPRECATED @1 :Int16; - safetyParam2DEPRECATED @2 :UInt32; - } - - struct LateralParams { - torqueBP @0 :List(Int32); - torqueV @1 :List(Int32); - } - - struct LateralPIDTuning { - kpBP @0 :List(Float32); - kpV @1 :List(Float32); - kiBP @2 :List(Float32); - kiV @3 :List(Float32); - kf @4 :Float32; - } - - struct LateralTorqueTuning { - useSteeringAngle @0 :Bool; - kp @1 :Float32; - ki @2 :Float32; - friction @3 :Float32; - kf @4 :Float32; - steeringAngleDeadzoneDeg @5 :Float32; - latAccelFactor @6 :Float32; - latAccelOffset @7 :Float32; - } - - struct LongitudinalPIDTuning { - kpBP @0 :List(Float32); - kpV @1 :List(Float32); - kiBP @2 :List(Float32); - kiV @3 :List(Float32); - kf @6 :Float32; - deadzoneBPDEPRECATED @4 :List(Float32); - deadzoneVDEPRECATED @5 :List(Float32); - } - - struct LateralINDITuning { - outerLoopGainBP @4 :List(Float32); - outerLoopGainV @5 :List(Float32); - innerLoopGainBP @6 :List(Float32); - innerLoopGainV @7 :List(Float32); - timeConstantBP @8 :List(Float32); - timeConstantV @9 :List(Float32); - actuatorEffectivenessBP @10 :List(Float32); - actuatorEffectivenessV @11 :List(Float32); - - outerLoopGainDEPRECATED @0 :Float32; - innerLoopGainDEPRECATED @1 :Float32; - timeConstantDEPRECATED @2 :Float32; - actuatorEffectivenessDEPRECATED @3 :Float32; - } - - struct LateralLQRTuning { - scale @0 :Float32; - ki @1 :Float32; - dcGain @2 :Float32; - - # State space system - a @3 :List(Float32); - b @4 :List(Float32); - c @5 :List(Float32); - - k @6 :List(Float32); # LQR gain - l @7 :List(Float32); # Kalman gain - } - - enum SafetyModel { - silent @0; - hondaNidec @1; - toyota @2; - elm327 @3; - gm @4; - hondaBoschGiraffe @5; - ford @6; - cadillac @7; - hyundai @8; - chrysler @9; - tesla @10; - subaru @11; - gmPassive @12; - mazda @13; - nissan @14; - volkswagen @15; - toyotaIpas @16; - allOutput @17; - gmAscm @18; - noOutput @19; # like silent but without silent CAN TXs - hondaBosch @20; - volkswagenPq @21; - subaruPreglobal @22; # pre-Global platform - hyundaiLegacy @23; - hyundaiCommunity @24; - volkswagenMlb @25; - hongqi @26; - body @27; - hyundaiCanfd @28; - volkswagenMqbEvo @29; - chryslerCusw @30; - psa @31; - } - - enum SteerControlType { - torque @0; - angle @1; - - curvatureDEPRECATED @2; - } - - enum TransmissionType { - unknown @0; - automatic @1; # Traditional auto, including DSG - manual @2; # True "stick shift" only - direct @3; # Electric vehicle or other direct drive - cvt @4; - } - - struct CarFw { - ecu @0 :Ecu; - fwVersion @1 :Data; - address @2 :UInt32; - subAddress @3 :UInt8; - responseAddress @4 :UInt32; - request @5 :List(Data); - brand @6 :Text; - bus @7 :UInt8; - logging @8 :Bool; - obdMultiplexing @9 :Bool; - } - - enum Ecu { - eps @0; - abs @1; - fwdRadar @2; - fwdCamera @3; - engine @4; - unknown @5; - transmission @8; # Transmission Control Module - hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer - srs @9; # airbag - gateway @10; # can gateway - hud @11; # heads up display - combinationMeter @12; # instrument cluster - electricBrakeBooster @15; - shiftByWire @16; - adas @19; - cornerRadar @21; - hvac @20; - parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. - epb @22; # electronic parking brake - telematics @23; - body @24; # body control module - - # Toyota only - dsu @6; - - # Honda only - vsa @13; # Vehicle Stability Assist - programmedFuelInjection @14; - - debug @17; - } - - enum FingerprintSource { - can @0; - fw @1; - fixed @2; - } - - enum NetworkLocation { - fwdCamera @0; # Standard/default integration at LKAS camera - gateway @1; # Integration at vehicle's CAN gateway - } - - enableGasInterceptorDEPRECATED @2 :Bool; - enableCameraDEPRECATED @4 :Bool; - enableApgsDEPRECATED @6 :Bool; - steerRateCostDEPRECATED @33 :Float32; - isPandaBlackDEPRECATED @39 :Bool; - hasStockCameraDEPRECATED @57 :Bool; - safetyParamDEPRECATED @10 :Int16; - safetyModelDEPRECATED @9 :SafetyModel; - safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; - minSpeedCanDEPRECATED @51 :Float32; - communityFeatureDEPRECATED @46: Bool; - startingAccelRateDEPRECATED @53 :Float32; - steerMaxBPDEPRECATED @11 :List(Float32); - steerMaxVDEPRECATED @12 :List(Float32); - gasMaxBPDEPRECATED @13 :List(Float32); - gasMaxVDEPRECATED @14 :List(Float32); - brakeMaxBPDEPRECATED @15 :List(Float32); - brakeMaxVDEPRECATED @16 :List(Float32); - directAccelControlDEPRECATED @30 :Bool; - maxSteeringAngleDegDEPRECATED @54 :Float32; - longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32; """ if __name__ == '__main__':