Chrylser: move to platform config (#31600)

* do chrysler

* chrysler specs

* cleanup

Co-authored-by: Shane Smiskol <shane@smiskol.com>

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 666c41d969

selfdrive/car/chrysler/interface.py

@@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
-    ret.minSteerSpeed = 3.8  # m/s
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
@@ -35,10 +34,6 @@ class CarInterface(CarInterfaceBase):
 
     # Chrysler
     if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
-      ret.mass = 2242.
-      ret.wheelbase = 3.089
-      ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -46,9 +41,6 @@ class CarInterface(CarInterfaceBase):
 
     # Jeep
     elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
-      ret.mass = 1778
-      ret.wheelbase = 2.71
-      ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
 
       ret.lateralTuning.init('pid')
@@ -60,9 +52,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.RAM_1500:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
-      ret.steerRatio = 16.3
-      ret.mass = 2493.
-      ret.minSteerSpeed = 14.5
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
@@ -72,7 +61,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.785
       ret.steerRatio = 15.61
       ret.mass = 3405.
-      ret.minSteerSpeed = 16
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
     else:

selfdrive/car/chrysler/values.py

@@ -1,9 +1,9 @@
-from enum import IntFlag, StrEnum
+from enum import IntFlag
 from dataclasses import dataclass, field
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
@@ -13,25 +13,89 @@ Ecu = car.CarParams.Ecu
 class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
+@dataclass
+class ChryslerCarInfo(CarInfo):
+  package: str = "Adaptive Cruise Control (ACC)"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
+
+
+@dataclass
+class ChryslerPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
+
+
+@dataclass
+class ChryslerCarSpecs(CarSpecs):
+  minSteerSpeed: float = 3.8  # m/s
+
 
-class CAR(StrEnum):
+class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
+  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-  PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
+    "CHRYSLER PACIFICA HYBRID 2017",
-  PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
+    specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+  )
+  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2018",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2019",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2018 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2018",
+    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2020 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2020",
+    [
+      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+    ],
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
 
   # Dodge
-  DODGE_DURANGO = "DODGE DURANGO 2021"
+  DODGE_DURANGO = ChryslerPlatformConfig(
+    "DODGE DURANGO 2021",
+    ChryslerCarInfo("Dodge Durango 2020-21"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
 
   # Jeep
-  JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
+  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-  JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+    "JEEP GRAND CHEROKEE V6 2018",
+    ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+    specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
+  )
+
+  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
+    "JEEP GRAND CHEROKEE 2019",
+    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+    specs=JEEP_GRAND_CHEROKEE.specs,
+  )
 
   # Ram
-  RAM_1500 = "RAM 1500 5TH GEN"
+  RAM_1500 = ChryslerPlatformConfig(
-  RAM_HD = "RAM HD 5TH GEN"
+    "RAM 1500 5TH GEN",
+    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+    dbc_dict('chrysler_ram_dt_generated', None),
+    specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
+  )
+  RAM_HD = ChryslerPlatformConfig(
+    "RAM HD 5TH GEN",
+    [
+      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+    ],
+    dbc_dict('chrysler_ram_hd_generated', None),
+    specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
+  )
 
 
 class CarControllerParams:
@@ -59,32 +123,6 @@ RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
 
-@dataclass
-class ChryslerCarInfo(CarInfo):
-  package: str = "Adaptive Cruise Control (ACC)"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
-
-
-CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = {
-  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
-  CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-  CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: [
-    ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-    ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
-  ],
-  CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
-  CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-    ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
-  ],
-}
-
-
 CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf132)
 CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -124,16 +162,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
+CAR_INFO = CAR.create_carinfo_map()
-DBC = {
+DBC = CAR.create_dbc_map()
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
-  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
-}