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cars: move common car info to subclass (#24481)

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* clean up values a bit and make HondaCarInfo for package

* also move min_steer_speed which had 12 occurrences

* odyssey has ALC down to 0

* do Nissan, Mazda, and Chrysler
old-commit-hash: ac1566b4c4
taco
Shane Smiskol 4 years ago committed by GitHub
parent 78a577d6af
commit cb49642bbd
4 changed files with 70 additions and 43 deletions
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  1. 20
      selfdrive/car/chrysler/values.py
  2. 57
      selfdrive/car/honda/values.py
  3. 20
      selfdrive/car/mazda/values.py
  4. 16
      selfdrive/car/nissan/values.py

20
selfdrive/car/chrysler/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -22,13 +23,18 @@ class CAR:
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.PACIFICA_2017_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"), class ChryslerCarInfo(CarInfo):
CAR.PACIFICA_2019_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2019-21", "Adaptive Cruise"), package: str = "Adaptive Cruise"
CAR.PACIFICA_2018: CarInfo("Chrysler Pacifica 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2020: CarInfo("Chrysler Pacifica 2020", "Adaptive Cruise"),
CAR.JEEP_CHEROKEE: CarInfo("Jeep Grand Cherokee 2016-18", "Adaptive Cruise", "https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR_INFO: Dict[str, Union[ChryslerCarInfo, List[ChryslerCarInfo]]] = {
CAR.JEEP_CHEROKEE_2019: CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise", "https://www.youtube.com/watch?v=jBe4lWnRSu4"), CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
} }
# Unique CAN messages: # Unique CAN messages:

57
selfdrive/car/honda/values.py
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@ -1,14 +1,16 @@
from dataclasses import dataclass
from enum import Enum, IntFlag from enum import Enum, IntFlag
from typing import Dict, List, Union from typing import Dict, List, Union
from cereal import car from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
from common.conversions import Conversions as CV
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams: class CarControllerParams:
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some # perform the closed loop control, and might need some
@ -53,6 +55,7 @@ class CruiseButtons:
CANCEL = 2 CANCEL = 2
MAIN = 1 MAIN = 1
# See dbc files for info on values # See dbc files for info on values
VISUAL_HUD = { VISUAL_HUD = {
VisualAlert.none: 0, VisualAlert.none: 0,
@ -97,33 +100,39 @@ class Footnote(Enum):
Column.FSR_STEERING) Column.FSR_STEERING)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
min_steer_speed: float = 12. * CV.MPH_TO_MS
CAR_INFO: Dict[str, Union[HondaCarInfo, List[HondaCarInfo]]] = {
CAR.ACCORD: [ CAR.ACCORD: [
CarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
CarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
], ],
CAR.ACCORDH: CarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: CarInfo("Honda Civic 2016-18", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18"),
CAR.CIVIC_BOSCH: [ CAR.CIVIC_BOSCH: [
CarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
CarInfo("Honda Civic Hatchback 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21"),
], ],
CAR.ACURA_ILX: CarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: CarInfo("Honda CR-V 2015-16", "Touring", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring"),
CAR.CRV_5G: CarInfo("Honda CR-V 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21"),
# CAR.CRV_EU: CarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring # CAR.CRV_EU: HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: CarInfo("Honda CR-V Hybrid 2017-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19"),
CAR.FIT: CarInfo("Honda Fit 2018-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-19"),
CAR.FREED: CarInfo("Honda Freed 2020", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020"),
CAR.HRV: CarInfo("Honda HR-V 2019-20", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-20"),
CAR.ODYSSEY: CarInfo("Honda Odyssey 2018-20", "Honda Sensing"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0.),
CAR.ACURA_RDX: CarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus"),
CAR.ACURA_RDX_3G: CarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: CarInfo("Honda Pilot 2016-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21"),
CAR.PASSPORT: CarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All"),
CAR.RIDGELINE: CarInfo("Honda Ridgeline 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-21"),
CAR.INSIGHT: CarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: CarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
} }

20
selfdrive/car/mazda/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -27,13 +28,18 @@ class CAR:
CX5_2022 = "MAZDA CX-5 2022" CX5_2022 = "MAZDA CX-5 2022"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"), # TODO: verify years and torque for first 4 class MazdaCarInfo(CarInfo):
CAR.CX9: CarInfo("Mazda CX-9 2016-17", "All"), package: str = "All"
CAR.MAZDA3: CarInfo("Mazda 3 2017", "All"),
CAR.MAZDA6: CarInfo("Mazda 6 2017", "All"),
CAR.CX9_2021: CarInfo("Mazda CX-9 2021", "All", good_torque=True), CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True), CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"), # TODO: verify years and torque for first 4
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
} }

16
selfdrive/car/nissan/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -24,11 +25,16 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020" ALTIMA = "NISSAN ALTIMA 2020"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"), class NissanCarInfo(CarInfo):
CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"), package: str = "ProPILOT"
CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
CAR_INFO: Dict[str, Union[NissanCarInfo, List[NissanCarInfo]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20"),
} }
FINGERPRINTS = { FINGERPRINTS = {

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