Subaru: move carspecs to PlatformConfig (#31550)

* subaru platform config

* forester wrong dbc

* spacing

* subaru car specs

* someday!

* more red diff

* all brands can be done like this

* but this should be done first and thats subaru specific

* that seems very low but we shouldn't change it here

* as long as it subclasses str its fine

* fix
old-commit-hash: 1161d33c18

selfdrive/car/__init__.py

@@ -247,12 +247,21 @@ class CanSignalRateCalculator:
 CarInfos = Union[CarInfo, List[CarInfo]]
 
 
+@dataclass
+class CarSpecs:
+  mass: float
+  wheelbase: float
+  steerRatio: float
+
+
 @dataclass(order=True)
 class PlatformConfig:
   platform_str: str
   car_info: CarInfos
   dbc_dict: DbcDict
 
+  specs: Optional[CarSpecs] = None
+
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
@@ -268,8 +277,8 @@ class Platforms(str, ReprEnum):
 
   @classmethod
   def create_dbc_map(cls) -> Dict[str, DbcDict]:
-    return {p.config.platform_str: p.config.dbc_dict for p in cls}
+    return {p: p.config.dbc_dict for p in cls}
 
   @classmethod
   def create_carinfo_map(cls) -> Dict[str, CarInfos]:
-    return {p.config.platform_str: p.config.car_info for p in cls}
+    return {p: p.config.car_info for p in cls}

selfdrive/car/interfaces.py

@@ -4,7 +4,7 @@ import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple
+from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple, cast
 
 from cereal import car
 from openpilot.common.basedir import BASEDIR
@@ -12,7 +12,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -109,6 +109,14 @@ class CarInterfaceBase(ABC):
   @classmethod
   def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
+
+    if hasattr(candidate, "config"):
+      platform_config = cast(PlatformConfig, candidate.config)
+      if platform_config.specs is not None:
+        ret.mass = platform_config.specs.mass
+        ret.wheelbase = platform_config.specs.wheelbase
+        ret.steerRatio = platform_config.specs.steerRatio
+
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload

selfdrive/car/subaru/interface.py

@@ -40,11 +40,10 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+
+    ret.centerToFront = ret.wheelbase * 0.5
+
     if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
-      ret.mass = 2031.
-      ret.wheelbase = 2.89
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
@@ -52,10 +51,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
@@ -63,58 +58,31 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
-      ret.mass = 1480.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
     elif candidate == CAR.CROSSTREK_HYBRID:
-      ret.mass = 1668.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17           # learned, 14 stock
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
     elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
-      ret.mass = 1568.
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
 
     elif candidate == CAR.LEGACY_PREGLOBAL:
-      ret.mass = 1568
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
 
     elif candidate == CAR.OUTBACK_PREGLOBAL:
-      ret.mass = 1568
+      pass
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 20           # learned, 14 stock
     else:
       raise ValueError(f"unknown car: {candidate}")
 

selfdrive/car/subaru/values.py

@@ -4,7 +4,7 @@ from typing import List
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -100,14 +100,17 @@ class CAR(Platforms):
   ASCENT = SubaruPlatformConfig(
     "SUBARU ASCENT LIMITED 2019",
     SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+    specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
   OUTBACK = SubaruPlatformConfig(
     "SUBARU OUTBACK 6TH GEN",
     SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
   )
   LEGACY = SubaruPlatformConfig(
     "SUBARU LEGACY 7TH GEN",
     SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+    specs=OUTBACK.specs,
   )
   IMPREZA = SubaruPlatformConfig(
     "SUBARU IMPREZA LIMITED 2019",
@@ -116,6 +119,7 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
       SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
   IMPREZA_2020 = SubaruPlatformConfig(
     "SUBARU IMPREZA SPORT 2020",
@@ -124,55 +128,66 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2020-23"),
       SubaruCarInfo("Subaru XV 2020-21"),
     ],
+    specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
   )
   # TODO: is there an XV and Impreza too?
   CROSSTREK_HYBRID = SubaruPlatformConfig(
     "SUBARU CROSSTREK HYBRID 2020",
     SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
     dbc_dict('subaru_global_2020_hybrid_generated', None),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+  )
+  FORESTER = SubaruPlatformConfig(
+    "SUBARU FORESTER 2019",
+    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
   )
   FORESTER_HYBRID = SubaruPlatformConfig(
     "SUBARU FORESTER HYBRID 2020",
     SubaruCarInfo("Subaru Forester Hybrid 2020"),
     dbc_dict('subaru_global_2020_hybrid_generated', None),
-  )
+    specs=FORESTER.specs,
-  FORESTER = SubaruPlatformConfig(
-    "SUBARU FORESTER 2019",
-    SubaruCarInfo("Subaru Forester 2019-21", "All"),
   )
   # Pre-global
   FORESTER_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU FORESTER 2017 - 2018",
     SubaruCarInfo("Subaru Forester 2017-18"),
     dbc_dict('subaru_forester_2017_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
   )
   LEGACY_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU LEGACY 2015 - 2018",
     SubaruCarInfo("Subaru Legacy 2015-18"),
     dbc_dict('subaru_outback_2015_generated', None),
+    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
   )
   OUTBACK_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU OUTBACK 2015 - 2017",
     SubaruCarInfo("Subaru Outback 2015-17"),
     dbc_dict('subaru_outback_2015_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
   )
   OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
     "SUBARU OUTBACK 2018 - 2019",
     SubaruCarInfo("Subaru Outback 2018-19"),
     dbc_dict('subaru_outback_2019_generated', None),
+    specs=FORESTER_PREGLOBAL.specs,
   )
   # Angle LKAS
   FORESTER_2022 = SubaruPlatformConfig(
     "SUBARU FORESTER 2022",
     SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+    specs=FORESTER.specs,
   )
   OUTBACK_2023 = SubaruPlatformConfig(
     "SUBARU OUTBACK 7TH GEN",
     SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=OUTBACK.specs,
   )
   ASCENT_2023 = SubaruPlatformConfig(
     "SUBARU ASCENT 2023",
-    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))
+    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
+    specs=ASCENT.specs,
   )
 
 

selfdrive/car/tests/test_models.py

@@ -50,7 +50,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
     for i, c in enumerate(sorted(all_known_cars())):
       if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
+        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
 
   else:
     segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))