can keep all this the same now!

selfdrive/car/data_structures.py

@@ -100,11 +100,6 @@ class CarParams:
 
   longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
   lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams())
-  # lateralTuning: 'CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
-  # lateralTuningWhich: type['CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning'] = field(default_factory=lambda: CarParams.LateralPIDTuning)
-  # lateralPIDTuning: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
-  # lateralTorqueTuning: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())
-
   lateralTuning: 'CarParams.LateralTuning' = field(default_factory=lambda: CarParams.LateralTuning())
 
   @dataclass
@@ -232,60 +227,3 @@ class CarParams:
     programmedFuelInjection = auto()
 
     debug = auto()
-
-
-import typing
-
-# CP = CarParams()
-#
-# print(CP.lateralTuningWhich is CarParams.LateralPIDTuning)
-# print(CP.lateralTuningWhich is CarParams.LateralTorqueTuning)
-# print()
-# CP.lateralTuningWhich = CarParams.LateralTorqueTuning
-# print(CP.lateralTuningWhich is CarParams.LateralPIDTuning)
-# print(CP.lateralTuningWhich is CarParams.LateralTorqueTuning)
-
-#
-#
-# T = typing.TypeVar('T')
-#
-# @dataclass
-# class UnionField(typing.Generic[T]):
-#     value: T
-#
-#     def init(self, value: T):
-#         self.value = value
-#
-#     def which(self):
-#         return type(self.value).__name__
-#
-#
-# lateral_tuning: UnionField[CarParams.LateralTorqueTuning | CarParams.LateralPIDTuning] = UnionField(CarParams.LateralPIDTuning)
-#
-# lateral_tuning.init(CarParams().LateralPIDTuning())
-# if isinstance(lateral_tuning.value, CarParams.LateralTorqueTuning):
-#   print(lateral_tuning.value.useSteeringAngle)  # This will work without mypy errors
-
-T = typing.TypeVar('T')
-
-
-# def which(value: object, typ: typing.Type[T]) -> bool:
-#   return isinstance(value, typ)
-
-which = isinstance
-
-
-lateralTuning: CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning = field(default_factory=lambda: CarParams.LateralPIDTuning())
-
-if isinstance(lateralTuning, CarParams.LateralTorqueTuning):
-  lateralTuning.useSteeringAngle = True
-
-
-
-# @dataclass
-# @apply_auto_fields
-# class UnionDataclass:
-#   which: str = 'pid'
-#
-#   pid: CarParams.LateralPIDTuning = auto_field()
-#   torque: CarParams.LateralTorqueTuning = auto_field()

selfdrive/car/honda/interface.py

@@ -69,8 +69,8 @@ class CarInterface(CarInterfaceBase):
     # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
     # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
     ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
-    ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
+    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.kf = 0.00006  # conservative feed-forward
+    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
       ret.longitudinalActuatorDelay = 0.5 # s
@@ -95,30 +95,30 @@ class CarInterface(CarInterfaceBase):
         # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
         # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.1]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[1.1], [0.33]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.HONDA_ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
       if eps_modified:
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.09]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
       else:
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_CRV_5G:
@@ -127,43 +127,43 @@ class CarInterface(CarInterfaceBase):
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
         # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.21], [0.07]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.64], [0.192]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_CRV_HYBRID:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_FIT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.HONDA_FREED:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       if candidate == CAR.HONDA_HRV:
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.16], [0.025]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
         ret.wheelSpeedFactor = 1.025
       else:
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.06]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
 
     elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.28], [0.08]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
       if candidate == CAR.HONDA_ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       else:
@@ -171,19 +171,19 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.HONDA_RIDGELINE:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.HONDA_INSIGHT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
       raise ValueError(f"unsupported car {candidate}")

selfdrive/car/interfaces.py

@@ -212,20 +212,18 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate: str, ret: CarParams, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
+  def configure_torque_tune(candidate: str, tune: CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
     params = get_torque_params()[candidate]
 
-    tune = CarParams.LateralTorqueTuning()
+    tune.init('torque')
-    tune.useSteeringAngle = use_steering_angle
+    tune.torque.useSteeringAngle = use_steering_angle
-    tune.kp = 1.0
+    tune.torque.kp = 1.0
-    tune.kf = 1.0
+    tune.torque.kf = 1.0
-    tune.ki = 0.1
+    tune.torque.ki = 0.1
-    tune.friction = params['FRICTION']
+    tune.torque.friction = params['FRICTION']
-    tune.latAccelFactor = params['LAT_ACCEL_FACTOR']
+    tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
-    tune.latAccelOffset = 0.0
+    tune.torque.latAccelOffset = 0.0
-    tune.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
+    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
-
-    ret.lateralTuning = tune
 
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState: