cars: introduce "platformconfig" to be a configuration for all relevant car information #31542
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Why not use CarInfo? |
I feel like a "car" is different from a "platform", a platform can support multiple different cars |
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And CarInfo is already very dense with documentation stuff, I feel like putting the openpilot configuration in there makes it way too big |
selfdrive/car/body/values.py
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| CAR_INFO = {p.platform_str: p.car_info for p in CAR} | ||
| DBC = {p.platform_str: p.dbc_dict for p in CAR} |
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maybe handle this in get_interface_attr?
I think we want to maintain a separate struct for docs, but perhaps we rename it to be more specific? |
selfdrive/car/body/values.py
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| class CAR(Platforms): | ||
| BODY = ( | ||
| "COMMA BODY", | ||
| CarInfo("comma body", package="All"), | ||
| dbc_dict('comma_body', None), | ||
| ) |
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ah yes this is what I sort of meant since you need multiple CarInfo's per platform. I would just make it a list or tuple by definition so there's no dynamic type checking on the CarInfo part anymore eh, that's really separate from this
| class Platforms(str, ReprEnum): | ||
| config: PlatformConfig | ||
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| def __new__(cls, platform_config: PlatformConfig): |
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this bit of hackery allows CAR within values.py to still be a StrEnum for backwards compatibility, until we fully move everything to the new PlatformConfig. CAR.BODY.config will be the PlatformConfig
for example, the fingerprints file and everything that references it currently depends on the fact the CAR.BODY is a string
FINGERPRINTS = {
CAR.BODY: [{
513: 8, 516: 8, 514: 3, 515: 4
}],
}
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this allows this PR's fingerprint to be small and we can make these changes in small batches, while maintaining the interface that we want
| CAR_INFO = CAR.create_carinfo_map() | ||
| DBC = CAR.create_dbc_map() |
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can we entirely skip these lines?
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DBC is imported directly from values.py in a few places, was trying to make this a minimal PR
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the plan is to remove these once everything is moved over I'm assuming
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the plan is to remove these once everything is moved over I'm assuming
yes, everything should directly reference the PlatformConfig when we are done
| CarInfos = Union[CarInfo, List[CarInfo]] | ||
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| @dataclass(order=True) |
| DbcDict = Dict[str, str] | ||
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| def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict: |
| CAR_INFO = CAR.create_carinfo_map() | ||
| DBC = CAR.create_dbc_map() |
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the plan is to remove these once everything is moved over I'm assuming
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