add car_data to CarInterface get_params

selfdrive/car/body/interface.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

selfdrive/car/car_helpers.py

@@ -193,18 +193,18 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint)
 
-  return car_platform, finger, vin, car_fw, source, exact_match
+  return car_platform, finger, vin, car_fw, list(), source, exact_match
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
+  candidate, fingerprints, vin, car_fw, car_data, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, car_data, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/chrysler/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 

selfdrive/car/ford/interface.py

@@ -12,7 +12,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = candidate in CANFD_CAR
 

selfdrive/car/gm/interface.py

@@ -83,7 +83,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False

selfdrive/car/honda/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:

selfdrive/car/hyundai/interface.py

@@ -20,7 +20,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 

selfdrive/car/interfaces.py

@@ -106,10 +106,12 @@ class CarInterfaceBase(ABC):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]],
+                 car_fw: list[car.CarParams.CarFw], car_data: list[car.CarParams.CarFw],
+                 experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     if hasattr(candidate, "config"):
@@ -119,7 +121,7 @@ class CarInterfaceBase(ABC):
         ret.wheelbase = platform_config.specs.wheelbase
         ret.steerRatio = platform_config.specs.steerRatio
 
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
@@ -134,7 +136,8 @@ class CarInterfaceBase(ABC):
   @staticmethod
   @abstractmethod
   def _get_params(ret: car.CarParams, candidate: Platform, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+                  car_fw: list[car.CarParams.CarFw], car_data: list[car.CarParams.CarFw],
+                  experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True

selfdrive/car/mock/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70

selfdrive/car/nissan/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False

selfdrive/car/subaru/interface.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate: Platform, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate: Platform, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,

selfdrive/car/tests/test_models.py

@@ -76,6 +76,7 @@ class TestCarModelBase(unittest.TestCase):
   @classmethod
   def get_testing_data_from_logreader(cls, lr):
     car_fw = []
+    car_data = []
     can_msgs = []
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
@@ -113,7 +114,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     if len(can_msgs) > int(50 / DT_CTRL):
-      return car_fw, can_msgs, experimental_long
+      return car_fw, car_data, can_msgs, experimental_long
 
     raise Exception("no can data found")
 
@@ -165,7 +166,7 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.car_model}")
 
-    car_fw, can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, car_data, can_msgs, experimental_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
@@ -173,7 +174,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, car_data, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 

selfdrive/car/toyota/interface.py

@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]

selfdrive/car/volkswagen/interface.py

@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
     self.eps_timer_soft_disable_alert = False
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, car_data, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True