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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 3 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. 59
      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 selfdrive.car import dbc_dict
@ -22,13 +23,18 @@ class CAR:
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.PACIFICA_2017_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2019_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2019-21", "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.JEEP_CHEROKEE_2019: CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise", "https://www.youtube.com/watch?v=jBe4lWnRSu4"),
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise"
CAR_INFO: Dict[str, Union[ChryslerCarInfo, List[ChryslerCarInfo]]] = {
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:

59
selfdrive/car/honda/values.py
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@ -1,14 +1,16 @@
from dataclasses import dataclass
from enum import Enum, IntFlag
from typing import Dict, List, Union
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
from common.conversions import Conversions as CV
Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams:
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
@ -53,6 +55,7 @@ class CruiseButtons:
CANCEL = 2
MAIN = 1
# See dbc files for info on values
VISUAL_HUD = {
VisualAlert.none: 0,
@ -97,33 +100,39 @@ class Footnote(Enum):
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: [
CarInfo("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 Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", 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.CIVIC: CarInfo("Honda Civic 2016-18", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18"),
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),
CarInfo("Honda Civic Hatchback 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
],
CAR.ACURA_ILX: CarInfo("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_5G: CarInfo("Honda CR-V 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
# CAR.CRV_EU: CarInfo("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.FIT: CarInfo("Honda Fit 2018-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: CarInfo("Honda Freed 2020", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: CarInfo("Honda HR-V 2019-20", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ODYSSEY: CarInfo("Honda Odyssey 2018-20", "Honda Sensing"),
CAR.ACURA_RDX: CarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: CarInfo("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.PASSPORT: CarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.RIDGELINE: CarInfo("Honda Ridgeline 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: CarInfo("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),
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),
HondaCarInfo("Honda Civic Hatchback 2017-21"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring"),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21"),
# CAR.CRV_EU: HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19"),
CAR.FIT: HondaCarInfo("Honda Fit 2018-19"),
CAR.FREED: HondaCarInfo("Honda Freed 2020"),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-20"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0.),
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus"),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21"),
CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All"),
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-21"),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "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 selfdrive.car import dbc_dict
@ -27,13 +28,18 @@ class CAR:
CX5_2022 = "MAZDA CX-5 2022"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"), # TODO: verify years and torque for first 4
CAR.CX9: CarInfo("Mazda CX-9 2016-17", "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.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True),
@dataclass
class MazdaCarInfo(CarInfo):
package: str = "All"
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
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 selfdrive.car import dbc_dict
@ -24,11 +25,16 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"),
CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"),
CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
@dataclass
class NissanCarInfo(CarInfo):
package: str = "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 = {

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