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remove some car.CarParams from the interfaces

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pull/33208/head
Shane Smiskol 1 year ago
parent 418d1ce230
commit b926893b34
14 changed files with 36 additions and 37 deletions
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  1. 5
      selfdrive/car/__init__.py
  2. 4
      selfdrive/car/body/interface.py
  3. 2
      selfdrive/car/capnp_to_dataclass.py
  4. 2
      selfdrive/car/chrysler/interface.py
  5. 8
      selfdrive/car/ford/interface.py
  6. 10
      selfdrive/car/gm/interface.py
  7. 6
      selfdrive/car/honda/interface.py
  8. 8
      selfdrive/car/hyundai/interface.py
  9. 2
      selfdrive/car/mazda/interface.py
  10. 4
      selfdrive/car/nissan/interface.py
  11. 7
      selfdrive/car/subaru/interface.py
  12. 9
      selfdrive/car/tesla/interface.py
  13. 2
      selfdrive/car/toyota/interface.py
  14. 4
      selfdrive/car/volkswagen/interface.py

5
selfdrive/car/__init__.py
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@ -10,6 +10,7 @@ import capnp
from cereal import car
from panda.python.uds import SERVICE_TYPE
from openpilot.selfdrive.car.can_definitions import CanData
from openpilot.selfdrive.car.data_structures import CarParams
from openpilot.selfdrive.car.docs_definitions import CarDocs
from openpilot.selfdrive.car.helpers import clip, interp
@ -204,8 +205,8 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
return CanData(addr, bytes(dat), bus)
def get_safety_config(safety_model, safety_param = None):
ret = car.CarParams.SafetyConfig.new_message()
def get_safety_config(safety_model: CarParams.SafetyModel, safety_param: int = None) -> CarParams.SafetyConfig:
ret = CarParams.SafetyConfig()
ret.safetyModel = safety_model
if safety_param is not None:
ret.safetyParam = safety_param

4
selfdrive/car/body/interface.py
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@ -10,7 +10,7 @@ class CarInterface(CarInterfaceBase):
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.body)]
ret.minSteerSpeed = -math.inf
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True
ret.openpilotLongitudinalControl = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = CarParams.SteerControlType.angle
return ret

2
selfdrive/car/capnp_to_dataclass.py
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@ -28,7 +28,7 @@ if __name__ == '__main__':
if re.search(':.*;', line):
if not in_struct:
# print(line)
name, typ, cmt = re.search('([a-zA-Z]+)\s*@\s*\d+\s*:\s*([a-zA-Z0-9\(\)]+)(?:.*#(.*))?', line.strip()).groups() # noqa # type: ignore
name, typ, cmt = re.search('([a-zA-Z]+)\s*@\s*\d+\s*:\s*([a-zA-Z0-9\(\)]+)(?:.*#(.*))?', line.strip()).groups() # type: ignore # noqa
# print((name, typ, cmt))
if name.endswith('DEPRECATED'):
continue

2
selfdrive/car/chrysler/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
# safety config
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.chrysler)]
if candidate in RAM_HD:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
elif candidate in RAM_DT:

8
selfdrive/car/ford/interface.py
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@ -8,7 +8,7 @@ from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = car.CarParams.TransmissionType
TransmissionType = CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
@ -19,14 +19,14 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
ret.radarUnavailable = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
CAN = CanBus(fingerprint=fingerprint)
cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
cfgs = [get_safety_config(CarParams.SafetyModel.ford)]
if CAN.main >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.experimentalLongitudinalAvailable = True

10
selfdrive/car/gm/interface.py
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@ -16,8 +16,8 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLater
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
TransmissionType = CarParams.TransmissionType
NetworkLocation = CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
else:
return CarInterfaceBase.get_steer_feedforward_default
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
return float(steer_torque) + friction
def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
inputs = list(latcontrol_inputs)
@ -91,7 +91,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]

6
selfdrive/car/honda/interface.py
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@ -14,7 +14,7 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
TransmissionType = CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
@ -39,7 +39,7 @@ class CarInterface(CarInterfaceBase):
CAN = CanBus(ret, fingerprint)
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaBosch)]
ret.radarUnavailable = True
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaNidec)]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = True

8
selfdrive/car/hyundai/interface.py
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@ -101,9 +101,9 @@ class CarInterface(CarInterfaceBase):
# *** panda safety config ***
if candidate in CANFD_CAR:
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
cfgs = [get_safety_config(CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_HDA2:
@ -117,9 +117,9 @@ class CarInterface(CarInterfaceBase):
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundaiLegacy)]
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundai, 0)]
if candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC

2
selfdrive/car/mazda/interface.py
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@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True
ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)

4
selfdrive/car/nissan/interface.py
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@ -13,14 +13,14 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = CarParams.SteerControlType.angle
ret.radarUnavailable = True
if candidate == CAR.NISSAN_ALTIMA:

7
selfdrive/car/subaru/interface.py
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@ -1,4 +1,3 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.data_structures import CarParams
@ -26,10 +25,10 @@ class CarInterface(CarInterfaceBase):
if ret.flags & SubaruFlags.PREGLOBAL:
ret.enableBsm = 0x25c in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaruPreglobal)]
else:
ret.enableBsm = 0x228 in fingerprint[0]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaru)]
if ret.flags & SubaruFlags.GLOBAL_GEN2:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
@ -37,7 +36,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
if ret.flags & SubaruFlags.LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

9
selfdrive/car/tesla/interface.py
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@ -1,5 +1,4 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.data_structures import CarParams
@ -17,7 +16,7 @@ class CarInterface(CarInterfaceBase):
# how openpilot should be, hence dashcamOnly
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.steerControlType = CarParams.SteerControlType.angle
ret.longitudinalActuatorDelay = 0.5 # s
ret.radarTimeStep = (1.0 / 8) # 8Hz
@ -29,12 +28,12 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = True
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, flags),
get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
get_safety_config(CarParams.SafetyModel.tesla, flags),
get_safety_config(CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
]
else:
ret.openpilotLongitudinalControl = False
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.tesla, flags)]
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25

2
selfdrive/car/toyota/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
# BRAKE_MODULE is on a different address for these cars

4
selfdrive/car/volkswagen/interface.py
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@ -27,7 +27,7 @@ class CarInterface(CarInterfaceBase):
if ret.flags & VolkswagenFlags.PQ:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0] or docs: # Getriebe_1
@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0] or docs: # Getriebe_11

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