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Subaru: move carspecs to PlatformConfig (#31550)

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* 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
chrysler-long2
Justin Newberry 1 year ago committed by GitHub
parent cc77d0ca34
commit c564806520
5 changed files with 47 additions and 47 deletions
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  1. 13
      selfdrive/car/__init__.py
  2. 12
      selfdrive/car/interfaces.py
  3. 40
      selfdrive/car/subaru/interface.py
  4. 27
      selfdrive/car/subaru/values.py
  5. 2
      selfdrive/car/tests/test_models.py

13
selfdrive/car/__init__.py
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@ -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}

12
selfdrive/car/interfaces.py
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@ -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

40
selfdrive/car/subaru/interface.py
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@ -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
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
pass
else:
raise ValueError(f"unknown car: {candidate}")

27
selfdrive/car/subaru/values.py
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@ -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),
)
FORESTER = SubaruPlatformConfig(
"SUBARU FORESTER 2019",
SubaruCarInfo("Subaru Forester 2019-21", "All"),
specs=FORESTER.specs,
)
# 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,
)

2
selfdrive/car/tests/test_models.py
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@ -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))

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