car docs: list all needed hardware

selfdrive/car/CARS_template.md

@@ -1,10 +1,10 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
 {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
 {% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
-{# Force harness column wider by using a blank image with max width. #}
+{# Force hardware column wider by using a blank image with max width. #}
 {% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
-{% set harness_col_name = 'Harness Kit' %}
-{% set wide_harness_col_name = width_tag|format(harness_col_name) -%}
+{% set hardware_col_name = 'Hardware Needed' %}
+{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
@@ -14,7 +14,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 
 # {{all_car_info | length}} Supported Cars
 
-|{{Column | map(attribute='value') | join('|') | replace(harness_col_name, wide_harness_col_name)}}|
+|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}

selfdrive/car/chrysler/values.py

@@ -5,7 +5,7 @@
 from cereal import car
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
+from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -60,7 +60,7 @@ def __init__(self, CP):
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
-  harness_kit: HarnessKit = HarnessKit(Harness.fca)
+  car_parts: CarParts = CarParts.default([CarPart.fca])
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@@ -74,10 +74,10 @@ class ChryslerCarInfo(CarInfo):
   ],
   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 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.default([CarPart.ram])),
   CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
-    ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
+    ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.default([CarPart.ram])),
+    ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.default([CarPart.ram])),
   ],
 }
 

selfdrive/car/docs_definitions.py

@@ -1,6 +1,5 @@
 import re
 from collections import namedtuple
-import copy
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union
@@ -21,7 +20,7 @@ class Column(Enum):
   FSR_STEERING = "No ALC below"
   STEERING_TORQUE = "Steering Torque"
   AUTO_RESUME = "Resume from stop"
-  HARNESS = "Harness Kit"
+  HARDWARE = "Hardware Needed"
   VIDEO = "Video"
 
 
@@ -31,60 +30,120 @@ class Star(Enum):
   EMPTY = "empty"
 
 
-class Harness(Enum):
-  nidec = "Honda Nidec"
-  bosch_a = "Honda Bosch A"
-  bosch_b = "Honda Bosch B"
-  toyota = "Toyota"
-  subaru_a = "Subaru A"
-  subaru_b = "Subaru B"
-  fca = "FCA"
-  ram = "Ram"
-  vw = "VW"
-  j533 = "J533"
-  hyundai_a = "Hyundai A"
-  hyundai_b = "Hyundai B"
-  hyundai_c = "Hyundai C"
-  hyundai_d = "Hyundai D"
-  hyundai_e = "Hyundai E"
-  hyundai_f = "Hyundai F"
-  hyundai_g = "Hyundai G"
-  hyundai_h = "Hyundai H"
-  hyundai_i = "Hyundai I"
-  hyundai_j = "Hyundai J"
-  hyundai_k = "Hyundai K"
-  hyundai_l = "Hyundai L"
-  hyundai_m = "Hyundai M"
-  hyundai_n = "Hyundai N"
-  hyundai_o = "Hyundai O"
-  hyundai_p = "Hyundai P"
-  hyundai_q = "Hyundai Q"
-  custom = "Developer"
-  obd_ii = "OBD-II"
-  gm = "GM"
-  nissan_a = "Nissan A"
-  nissan_b = "Nissan B"
-  mazda = "Mazda"
-  ford_q3 = "Ford Q3"
-  ford_q4 = "Ford Q4"
-  none = "None"
-
-
-class HarnessPart(Enum):
-  harness_box = "harness box"
-  comma_power_v2 = "comma power v2"
-  rj45_cable = "RJ45 cable (7 ft)"
-  long_obdc_cable = "long OBD-C cable"
-  usbc_coupler = "USB-C coupler"
-
-
-DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
+class PartType(Enum):
+  connector = "Connector"
+  device = "Device"
+  cable = "Cable"
+  accessory = "Accessory"
+  mount = "Mount"
 
 
 @dataclass
-class HarnessKit:
-  connector: Harness = Harness.none
-  parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
+class Part:
+  name: str
+
+  @property
+  def type(self) -> PartType:
+    raise NotImplementedError
+
+
+@dataclass
+class Connector(Part):
+  @property
+  def type(self) -> PartType:
+    return PartType.connector
+
+
+class Accessory(Part):
+  @property
+  def type(self) -> PartType:
+    return PartType.accessory
+
+
+class Mount(Part):
+  @property
+  def type(self) -> PartType:
+    return PartType.mount
+
+
+class Cable(Part):
+  @property
+  def type(self) -> PartType:
+    return PartType.cable
+
+
+class Device(Part):
+  @property
+  def type(self) -> PartType:
+    return PartType.device
+
+
+class CarPart(Enum):
+  nidec = Connector("Honda Nidec connector")
+  bosch_a = Connector("Honda Bosch A connector")
+  bosch_b = Connector("Honda Bosch B connector")
+  toyota = Connector("Toyota connector")
+  subaru_a = Connector("Subaru A connector")
+  subaru_b = Connector("Subaru B connector")
+  fca = Connector("FCA connector")
+  ram = Connector("Ram connector")
+  vw = Connector("VW connector")
+  j533 = Connector("J533 connector")
+  hyundai_a = Connector("Hyundai A connector")
+  hyundai_b = Connector("Hyundai B connector")
+  hyundai_c = Connector("Hyundai C connector")
+  hyundai_d = Connector("Hyundai D connector")
+  hyundai_e = Connector("Hyundai E connector")
+  hyundai_f = Connector("Hyundai F connector")
+  hyundai_g = Connector("Hyundai G connector")
+  hyundai_h = Connector("Hyundai H connector")
+  hyundai_i = Connector("Hyundai I connector")
+  hyundai_j = Connector("Hyundai J connector")
+  hyundai_k = Connector("Hyundai K connector")
+  hyundai_l = Connector("Hyundai L connector")
+  hyundai_m = Connector("Hyundai M connector")
+  hyundai_n = Connector("Hyundai N connector")
+  hyundai_o = Connector("Hyundai O connector")
+  hyundai_p = Connector("Hyundai P connector")
+  hyundai_q = Connector("Hyundai Q connector")
+  custom = Connector("Developer connector")
+  obd_ii = Connector("OBD-II connector")
+  gm = Connector("GM connector")
+  nissan_a = Connector("Nissan A connector")
+  nissan_b = Connector("Nissan B connector")
+  mazda = Connector("Mazda connector")
+  ford_q3 = Connector("Ford Q3 connector")
+  ford_q4 = Connector("Ford Q4 connector")
+
+  comma_3 = Device("comma 3")
+  red_panda = Device("red panda")
+
+  harness_box = Accessory("harness box")
+  comma_power_v2 = Accessory("comma power v2")
+
+  mount = Mount("mount")
+  angled_mount = Mount("angled mount")
+
+  rj45_cable_7ft = Cable("RJ45 cable (7 ft)")
+  long_obdc_cable = Cable("long OBD-C cable")
+  usb_a_2_a_cable = Cable("USB A-A cable")
+  usbc_otg_cable = Cable("USB C OTG cable")
+  usbc_coupler = Cable("USB-C coupler")
+  obd_c_cable_1_5ft = Cable("OBD-C cable (1.5 ft)")
+  right_angle_obd_c_cable_1_5ft = Cable("right angle OBD-C cable (1.5 ft)")
+
+
+DEFAULT_CAR_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.comma_power_v2, CarPart.rj45_cable_7ft, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]
+
+
+@dataclass
+class CarParts:
+  parts: List[CarPart] = field(default_factory=list)
+
+  @classmethod
+  def default(cls, add: List[CarPart] = None, remove: List[CarPart] = None):
+    p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
+    return cls(p)
 
 
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
@@ -154,8 +213,8 @@ class CarInfo:
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
 
-  # harness connectors + all the parts needed
-  harness_kit: HarnessKit = HarnessKit()
+  # all the parts needed for the supported car
+  car_parts: CarParts = CarParts()
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     self.car_name = CP.carName
@@ -184,13 +243,13 @@ def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     if self.min_enable_speed is None:
       self.min_enable_speed = CP.minEnableSpeed
 
-    # harness column
-    harness_col = self.harness_kit.connector.value
-    if self.harness_kit.connector is not Harness.none:
+    # hardware column
+    hardware_col = "None"
+    if self.car_parts.parts:
       model_years = self.model + (' ' + self.years if self.years else '')
-      harness_connector = f'- 1 <a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col} connector</a>'
-      harness_parts = '<br>'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
-      harness_col = f'<details><summary>View</summary><sub>{harness_connector}<br>{harness_parts}</sub></details>'
+      buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>'
+      parts = '<br>'.join([f"- {self.car_parts.parts.count(part)} {part.value.name}" for part in sorted(set(self.car_parts.parts), key=lambda part: part.name)])
+      hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>'
 
     self.row: Dict[Enum, Union[str, Star]] = {
       Column.MAKE: self.make,
@@ -201,7 +260,7 @@ def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
       Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.STEERING_TORQUE: Star.EMPTY,
       Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
-      Column.HARNESS: harness_col,
+      Column.HARDWARE: hardware_col,
       Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
     }
 

selfdrive/car/ford/values.py

@@ -4,7 +4,7 @@
 
 from cereal import car
 from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
+from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -62,11 +62,14 @@ class RADAR:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
-
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  harness_kit: HarnessKit = HarnessKit(Harness.ford_q3)
+  car_parts: CarParts = CarParts.default([CarPart.ford_q3])
+
+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
+      self.car_parts = CarParts.default([CarPart.ford_q3, CarPart.angled_mount], remove=[CarPart.mount])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {

selfdrive/car/gm/values.py

@@ -5,7 +5,7 @@
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column
 Ecu = car.CarParams.Ecu
 
 
@@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
-      self.harness_kit = HarnessKit(Harness.gm)
+      self.car_parts = CarParts.default([CarPart.gm])
     else:
-      self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
+      self.car_parts = CarParts([CarPart.obd_ii, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft])
       self.footnotes.append(Footnote.OBD_II)
 
 

selfdrive/car/honda/values.py

@@ -6,7 +6,7 @@
 from common.conversions import Conversions as CV
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in HONDA_BOSCH:
-      self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a)
+      self.car_parts = CarParts.default([CarPart.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.default([CarPart.bosch_a])
     else:
-      self.harness_kit = HarnessKit(Harness.nidec)
+      self.car_parts = CarParts.default([CarPart.nidec])
 
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {