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janky but that saves a lot of car lines

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pull/31607/head
Shane Smiskol 1 year ago
parent 639624e5f3
commit abbc4c249f
4 changed files with 31 additions and 41 deletions
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  1. 2
      selfdrive/car/__init__.py
  2. 7
      selfdrive/car/tests/test_docs.py
  3. 59
      selfdrive/car/toyota/values.py
  4. 4
      selfdrive/car/values.py

2
selfdrive/car/__init__.py
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@ -261,7 +261,7 @@ class CarSpecs:
class PlatformConfig:
platform_str: str
car_info: CarInfos
dbc_dict: DbcDict
dbc_dict: DbcDict = None # needs a test
specs: CarSpecs | None = None

7
selfdrive/car/tests/test_docs.py
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@ -11,6 +11,7 @@ from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, St
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfdrive.debug.dump_car_info import dump_car_info
from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
from openpilot.selfdrive.car.values import PLATFORMS
class TestCarDocs(unittest.TestCase):
@ -26,6 +27,12 @@ class TestCarDocs(unittest.TestCase):
self.assertEqual(generated_cars_md, current_cars_md,
"Run selfdrive/car/docs.py to update the compatibility documentation")
def test_platforms(self):
for platform in PLATFORMS.values():
if hasattr(platform, "config"):
self.assertIsNotNone(platform.config)
self.assertIsNotNone(platform.config.dbc_dict)
def test_docs_diff(self):
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
dump_car_info(dump_path)

59
selfdrive/car/toyota/values.py
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@ -1,7 +1,7 @@
import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.conversions import Conversions as CV
@ -63,6 +63,18 @@ class ToyotaCarInfo(CarInfo):
class ToyotaPlatformConfig(PlatformConfig):
# dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
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')
return self
def __post_init__(self):
# if self.
print('here', dir(self))
@ -78,7 +90,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Alphard 2019-20"),
ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444)
),
AVALON = ToyotaPlatformConfig(
@ -87,7 +98,6 @@ class CAR(Platforms):
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(
@ -96,7 +106,6 @@ class CAR(Platforms):
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(
@ -105,7 +114,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
],
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 +122,6 @@ 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('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 +130,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
],
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 +138,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2017-20"),
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
],
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 +146,11 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
],
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('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 +166,6 @@ 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('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
HIGHLANDER = ToyotaPlatformConfig(
@ -172,7 +174,6 @@ 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('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(
@ -181,7 +182,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
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(
@ -191,14 +191,12 @@ 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('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.70, steerRatio=15.74, tireStiffnessFactor=0.6371)
),
PRIUS_V = ToyotaPlatformConfig(
"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'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533)
),
PRIUS_TSS2 = ToyotaPlatformConfig(
"TOYOTA PRIUS TSS2 2021",
@ -206,7 +204,6 @@ 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('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 +212,6 @@ class CAR(Platforms):
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(
@ -224,7 +220,6 @@ 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('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 +228,6 @@ 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('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 +236,6 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
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 +244,16 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
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('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('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
@ -271,7 +261,6 @@ class CAR(Platforms):
LEXUS_CTH = ToyotaPlatformConfig(
"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(
@ -280,7 +269,6 @@ class CAR(Platforms):
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(
@ -289,19 +277,16 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus ES 2019-24"),
ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
],
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('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('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 +295,6 @@ class CAR(Platforms):
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(
@ -319,19 +303,16 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
],
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('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('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 +324,6 @@ 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(
@ -352,20 +332,15 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
],
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('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444)
),
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
# (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
@ -606,3 +581,7 @@ ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
CAR.init_configs()
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

4
selfdrive/car/values.py
Unescape View File

@ -16,3 +16,7 @@ Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBA
BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN]
PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)}
for platform in PLATFORMS.values():
if hasattr(platform, "config"):
platform.config.init_config()

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