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236 lines
8.2 KiB
236 lines
8.2 KiB
import re
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from collections import namedtuple
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from dataclasses import dataclass, field
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from enum import Enum
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from typing import Dict, List, Optional, Tuple, Union
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from cereal import car
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from common.conversions import Conversions as CV
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GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
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MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
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class Column(Enum):
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MAKE = "Make"
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MODEL = "Model"
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PACKAGE = "Supported Package"
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LONGITUDINAL = "ACC"
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FSR_LONGITUDINAL = "No ACC accel below"
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FSR_STEERING = "No ALC below"
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STEERING_TORQUE = "Steering Torque"
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AUTO_RESUME = "Resume from stop"
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HARNESS = "Harness"
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VIDEO = "Video"
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class Star(Enum):
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FULL = "full"
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HALF = "half"
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EMPTY = "empty"
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class Harness(Enum):
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nidec = "Honda Nidec"
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bosch_a = "Honda Bosch A"
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bosch_b = "Honda Bosch B"
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toyota = "Toyota"
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subaru_a = "Subaru A"
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subaru_b = "Subaru B"
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fca = "FCA"
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ram = "Ram"
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vw = "VW"
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j533 = "J533"
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hyundai_a = "Hyundai A"
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hyundai_b = "Hyundai B"
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hyundai_c = "Hyundai C"
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hyundai_d = "Hyundai D"
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hyundai_e = "Hyundai E"
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hyundai_f = "Hyundai F"
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hyundai_g = "Hyundai G"
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hyundai_h = "Hyundai H"
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hyundai_i = "Hyundai I"
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hyundai_j = "Hyundai J"
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hyundai_k = "Hyundai K"
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hyundai_l = "Hyundai L"
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hyundai_m = "Hyundai M"
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hyundai_n = "Hyundai N"
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hyundai_o = "Hyundai O"
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hyundai_p = "Hyundai P"
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hyundai_q = "Hyundai Q"
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custom = "Developer"
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obd_ii = "OBD-II"
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gm = "GM"
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nissan_a = "Nissan A"
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nissan_b = "Nissan B"
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mazda = "Mazda"
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ford_q3 = "Ford Q3"
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ford_q4 = "Ford Q4"
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none = "None"
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CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
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class CommonFootnote(Enum):
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EXP_LONG_AVAIL = CarFootnote(
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"Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
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Column.LONGITUDINAL, docs_only=True)
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EXP_LONG_DSU = CarFootnote(
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"By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
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"stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
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Column.LONGITUDINAL)
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def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
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# Returns applicable footnotes given current column
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return [fn for fn in footnotes if fn.value.column == column]
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# TODO: store years as a list
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def get_year_list(years):
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years_list = []
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if len(years) == 0:
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return years_list
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for year in years.split(','):
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year = year.strip()
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if len(year) == 4:
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years_list.append(str(year))
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elif "-" in year and len(year) == 7:
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start, end = year.split("-")
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years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
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else:
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raise Exception(f"Malformed year string: {years}")
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return years_list
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def split_name(name: str) -> Tuple[str, str, str]:
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make, model = name.split(" ", 1)
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years = ""
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match = re.search(MODEL_YEARS_RE, model)
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if match is not None:
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years = model[match.start():]
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model = model[:match.start() - 1]
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return make, model, years
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@dataclass
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class CarInfo:
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name: str
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package: str
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video_link: Optional[str] = None
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footnotes: List[Enum] = field(default_factory=list)
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min_steer_speed: Optional[float] = None
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min_enable_speed: Optional[float] = None
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harness: Enum = Harness.none
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def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
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self.car_name = CP.carName
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self.car_fingerprint = CP.carFingerprint
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self.make, self.model, self.years = split_name(self.name)
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# longitudinal column
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op_long = "Stock"
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if CP.openpilotLongitudinalControl and not CP.enableDsu:
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op_long = "openpilot"
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elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
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op_long = "openpilot available"
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if CP.enableDsu:
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self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
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else:
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self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
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# min steer & enable speed columns
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# TODO: set all the min steer speeds in carParams and remove this
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if self.min_steer_speed is not None:
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assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
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else:
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self.min_steer_speed = CP.minSteerSpeed
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# TODO: set all the min enable speeds in carParams correctly and remove this
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if self.min_enable_speed is None:
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self.min_enable_speed = CP.minEnableSpeed
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# harness column
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harness_col = self.harness.value
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if self.harness is not Harness.none:
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model_years = self.model + (' ' + self.years if self.years else '')
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harness_col = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col}</a>'
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self.row = {
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Column.MAKE: self.make,
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Column.MODEL: self.model,
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Column.PACKAGE: self.package,
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Column.LONGITUDINAL: op_long,
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Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
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Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
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Column.STEERING_TORQUE: Star.EMPTY,
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Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
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Column.HARNESS: harness_col,
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Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
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}
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# Set steering torque star from max lateral acceleration
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assert CP.maxLateralAccel > 0.1
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if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
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self.row[Column.STEERING_TORQUE] = Star.FULL
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self.all_footnotes = all_footnotes
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self.year_list = get_year_list(self.years)
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self.detail_sentence = self.get_detail_sentence(CP)
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return self
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def init_make(self, CP: car.CarParams):
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"""CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
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def get_detail_sentence(self, CP):
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if not CP.notCar:
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sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
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if self.min_steer_speed > self.min_enable_speed:
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alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
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else:
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alc = ""
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# Exception for cars which do not auto-resume yet
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acc = ""
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if self.min_enable_speed > 0:
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acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
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elif CP.autoResumeSng:
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acc = " <strong>that automatically resumes from a stop</strong>"
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if self.row[Column.STEERING_TORQUE] != Star.FULL:
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sentence_builder += " This car may not be able to take tight turns on its own."
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# experimental mode
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exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
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if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
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sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
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else:
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sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update."
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return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
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else:
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if CP.carFingerprint == "COMMA BODY":
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return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
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else:
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raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
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def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
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item: Union[str, Star] = self.row[column]
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if isinstance(item, Star):
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item = star_icon.format(item.value)
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elif column == Column.MODEL and len(self.years):
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item += f" {self.years}"
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elif column == Column.VIDEO and len(item) > 0:
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item = video_icon.format(item)
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footnotes = get_footnotes(self.footnotes, column)
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if len(footnotes):
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sups = sorted([self.all_footnotes[fn] for fn in footnotes])
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item += footnote_tag.format(f'{",".join(map(str, sups))}')
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return item
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