Car interface: require fingerprint and FW versions to get params (#26932)

* require fingerprint and FW versions

* add get_non_essential_params()

* comment

* all required

* classmethod, need to allow subclasses to override _get_params

* fix that

* fix

* fix

* wrong fix 🤦

selfdrive/car/docs.py

@@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
 
     if CP.dashcamOnly or car_info is None:
       continue

selfdrive/car/interfaces.py

@@ -88,13 +88,14 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
-    if fingerprint is None:
-      fingerprint = gen_empty_fingerprint()
-
-    if car_fw is None:
-      car_fw = list()
+  def get_non_essential_params(cls, candidate: str):
+    """
+    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)
 
+  @classmethod
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
 

selfdrive/car/tests/test_car_interfaces.py

@@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase):
 
     car_fw = []
 
-    car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface

selfdrive/car/tests/test_fw_fingerprint.py

@@ -67,7 +67,7 @@ class TestFwFingerprint(unittest.TestCase):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
-        CP = interfaces[car_model][0].get_params(car_model)
+        CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
             self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')

selfdrive/car/tests/test_lateral_limits.py

@@ -40,7 +40,7 @@ class TestLateralLimits(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     CarInterface, _, _ = interfaces[cls.car_model]
-    CP = CarInterface.get_params(cls.car_model)
+    CP = CarInterface.get_non_essential_params(cls.car_model)
 
     if CP.dashcamOnly:
       raise unittest.SkipTest("Platform is behind dashcamOnly")

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -20,7 +20,7 @@ class TestLatControl(unittest.TestCase):
   @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState = interfaces[car_name]
-    CP = CarInterface.get_params(car_name)
+    CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -12,7 +12,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, creat
 
 class TestVehicleModel(unittest.TestCase):
   def setUp(self):
-    CP = CarInterface.get_params(CAR.CIVIC)
+    CP = CarInterface.get_non_essential_params(CAR.CIVIC)
     self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):

selfdrive/controls/tests/test_state_machine.py

@@ -31,7 +31,7 @@ class TestStateMachine(unittest.TestCase):
 
   def setUp(self):
     CarInterface, CarController, CarState = interfaces["mock"]
-    CP = CarInterface.get_params("mock")
+    CP = CarInterface.get_non_essential_params("mock")
     CI = CarInterface(CP, CarController, CarState)
 
     self.controlsd = Controls(CI=CI)

selfdrive/debug/cycle_alerts.py

@@ -51,7 +51,7 @@ def cycle_alerts(duration=200, is_metric=False):
   cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
 
   CS = car.CarState.new_message()
-  CP = CarInterface.get_params("HONDA CIVIC 2016")
+  CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                             'managerState'] + cameras)

selfdrive/debug/internal/test_paramsd.py

@@ -20,7 +20,7 @@ T_SIM = 5 * 60  # s
 DT = 0.01
 
 
-CP = CarInterface.get_params(CAR.CIVIC)
+CP = CarInterface.get_non_essential_params(CAR.CIVIC)
 VM = VehicleModel(CP)
 
 x, y = 0, 0  # m, m

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -49,7 +49,7 @@ class Plant:
     from selfdrive.car.honda.values import CAR
     from selfdrive.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
 
   @property
   def current_time(self):

selfdrive/test/process_replay/process_replay.py

@@ -180,7 +180,7 @@ def fingerprint(msgs, fsm, can_sock, fingerprint):
 def get_car_params(msgs, fsm, can_sock, fingerprint):
   if fingerprint:
     CarInterface, _, _ = interfaces[fingerprint]
-    CP = CarInterface.get_params(fingerprint)
+    CP = CarInterface.get_non_essential_params(fingerprint)
   else:
     can = FakeSocket(wait=False)
     sendcan = FakeSocket(wait=False)