do all fingerprints

selfdrive/car/body/fingerprints.py

@@ -1,8 +1,8 @@
 # ruff: noqa: E501
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.body.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # debug ecu fw version is the git hash of the firmware
 

selfdrive/car/chrysler/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.chrysler.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.CHRYSLER_PACIFICA_2018: {

selfdrive/car/data_structures.py

@@ -1,34 +1,54 @@
-from enum import StrEnum, auto
-
-
-class Ecu(StrEnum):
-  eps = auto()
-  abs = auto()
-  fwdRadar = auto()
-  fwdCamera = auto()
-  engine = auto()
-  unknown = auto()
-  transmission = auto()  # Transmission Control Module
-  hybrid = auto()  # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
-  srs = auto()  # airbag
-  gateway = auto()  # can gateway
-  hud = auto()  # heads up display
-  combinationMeter = auto()  # instrument cluster
-  electricBrakeBooster = auto()
-  shiftByWire = auto()
-  adas = auto()
-  cornerRadar = auto()
-  hvac = auto()
-  parkingAdas = auto()  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
-  epb = auto()  # electronic parking brake
-  telematics = auto()
-  body = auto()  # body control module
-
-  # Toyota only
-  dsu = auto()
-
-  # Honda only
-  vsa = auto()  # Vehicle Stability Assist
-  programmedFuelInjection = auto()
-
-  debug = auto()
+from dataclasses import dataclass
+from enum import StrEnum as _StrEnum, auto
+
+
+class StrEnum(_StrEnum):
+  @staticmethod
+  def _generate_next_value_(name, *args):
+    # auto() defaults to name.lower()
+    return name
+
+
+@dataclass
+class CarParams:
+  carName: str
+  carFingerprint: str
+  fuzzyFingerprint: bool
+
+  notCar: bool  # flag for non-car robotics platforms
+
+  class SteerControlType(StrEnum):
+    torque = auto()
+    angle = auto()
+
+  class Ecu(StrEnum):
+    eps = auto()
+    abs = auto()
+    fwdRadar = auto()
+    fwdCamera = auto()
+    engine = auto()
+    unknown = auto()
+    transmission = auto()  # Transmission Control Module
+    hybrid = auto()  # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs = auto()  # airbag
+    gateway = auto()  # can gateway
+    hud = auto()  # heads up display
+    combinationMeter = auto()  # instrument cluster
+    electricBrakeBooster = auto()
+    shiftByWire = auto()
+    adas = auto()
+    cornerRadar = auto()
+    hvac = auto()
+    parkingAdas = auto()  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb = auto()  # electronic parking brake
+    telematics = auto()
+    body = auto()  # body control module
+
+    # Toyota only
+    dsu = auto()
+
+    # Honda only
+    vsa = auto()  # Vehicle Stability Assist
+    programmedFuelInjection = auto()
+
+    debug = auto()

selfdrive/car/ford/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.ford.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.FORD_BRONCO_SPORT_MK1: {

selfdrive/car/honda/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.honda.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # Modified FW can be identified by the second dash being replaced by a comma
 # For example: `b'39990-TVA,A150\x00\x00'`

selfdrive/car/hyundai/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.hyundai.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
 # i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does

selfdrive/car/mazda/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.mazda.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.MAZDA_CX5_2022: {

selfdrive/car/nissan/fingerprints.py

@@ -1,8 +1,8 @@
 # ruff: noqa: E501
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.nissan.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.NISSAN_XTRAIL: [{

selfdrive/car/subaru/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.subaru.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.SUBARU_ASCENT: {

selfdrive/car/tesla/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.tesla.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.TESLA_AP2_MODELS: {

selfdrive/car/toyota/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.toyota.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 FW_VERSIONS = {
   CAR.TOYOTA_AVALON: {

selfdrive/car/toyota/toyotacan.py

@@ -1,6 +1,6 @@
-from cereal import car
+from selfdrive.car.data_structures import CarParams
 
-SteerControlType = car.CarParams.SteerControlType
+SteerControlType = CarParams.SteerControlType
 
 
 def create_steer_command(packer, steer, steer_req):

selfdrive/car/toyota/values.py

@@ -4,11 +4,12 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
-from openpilot.selfdrive.car.data_structures import Ecu
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
+Ecu = CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
 PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 

selfdrive/car/volkswagen/fingerprints.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.volkswagen.values import CAR
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
 

selfdrive/debug/format_fingerprints.py

@@ -2,28 +2,24 @@
 import jinja2
 import os
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 
-Ecu = car.CarParams.Ecu
-
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
 FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
 {%- if FINGERPRINTS[brand] %}
 # ruff: noqa: E501
 {% endif %}
 {% if FW_VERSIONS[brand] %}
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 {% endif %}
 from openpilot.selfdrive.car.{{brand}}.values import CAR
 {% if FW_VERSIONS[brand] %}
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 {% endif %}
 {% if comments +%}
 {{ comments | join() }}
@@ -49,7 +45,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+    (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
 {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
   {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
     {{fw_version}},
@@ -71,9 +67,8 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
+                                            FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
 
 
 if __name__ == "__main__":