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Code Issues Packages Projects Releases Wiki Activity

Car docs: show more information about cars (#25415)

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* back to actual information

* remove some star code

* round speeds

* Try out showing lateral acceleration

* remove that

* Fix speed units

* Add harness and try rounding to nearest half before scapping it

fix

^2

^2

* Add back steering torque star

* Fix static analysis

* auto-generate header

* fix static analysis. set to Harness.none by default

* rm
old-commit-hash: 747bcb013dabdb1f220dc97a37270b42cb4eae03
This commit is contained in:
Shane Smiskol
2022-08-18 15:12:18 -07:00
committed by GitHub
parent b13ebdbffe
commit 2f2016fda6
7 changed files with 270 additions and 353 deletions
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selfdrive/car/CARS_template.md
+1 -13
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@@ -7,22 +7,10 @@
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
## How We Rate The Cars
{% for star_row in STAR_DESCRIPTIONS.values() %}
{% for name, stars in star_row.items() %}
### {{name}}
{% for star, description in stars %}
- {{star_icon.format(star)}} - {{description}}
{% endfor %}
{% endfor %}
{% endfor %}
# {{all_car_info | length}} Supported Cars
|{{Column | map(attribute='value') | join('|')}}|
|---|---|---|:---:|:---:|:---:|:---:|
|---|---|---|{% 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, footnote_tag)}}|{% endfor %}
selfdrive/car/body/values.py
+2 -2
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@@ -2,7 +2,7 @@ from typing import Dict
from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo, Harness
from selfdrive.car.docs_definitions import CarInfo
Ecu = car.CarParams.Ecu
SPEED_FROM_RPM = 0.008587
@@ -18,7 +18,7 @@ class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
CAR.BODY: CarInfo("comma body", package="All"),
}
FW_VERSIONS = {
selfdrive/car/docs.py
+9 -19
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@@ -8,16 +8,15 @@ from natsort import natsorted
from typing import Dict, List
from common.basedir import BASEDIR
from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
from selfdrive.car.docs_definitions import CarInfo, Column
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]:
def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = []
hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else []
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols])
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
@@ -25,9 +24,9 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]:
def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes(only_tier_cols)
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
@@ -57,21 +56,13 @@ def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
return dict(sorted_car_info)
def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
with open(template_fn, "r") as f:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
cols = list(Column)
if only_tier_cols:
hide_cols = set(StarColumns) - set(TierColumns)
cols = [c for c in cols if c not in hide_cols]
for car in all_car_info:
for c in hide_cols:
del car.row[c]
footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)]
footnotes = [fn.value.text for fn in get_all_footnotes()]
cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make,
footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS)
footnotes=footnotes, Column=Column)
return cars_md
@@ -79,11 +70,10 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier")
parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
args = parser.parse_args()
with open(args.out, 'w') as f:
f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns))
f.write(generate_cars_md(get_all_car_info(), args.template))
print(f"Generated and written to {args.out}")
selfdrive/car/docs_definitions.py
+51 -97
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@@ -2,7 +2,7 @@ import re
from collections import namedtuple
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Optional, Tuple, Union, no_type_check
from typing import Dict, List, Optional, Tuple, Union
from cereal import car
from common.conversions import Conversions as CV
@@ -15,20 +15,15 @@ NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
class Tier(Enum):
GOLD = 0
SILVER = 1
BRONZE = 2
class Column(Enum):
MAKE = "Make"
MODEL = "Model"
PACKAGE = "Supported Package"
LONGITUDINAL = "openpilot ACC"
FSR_LONGITUDINAL = "Stop and Go"
FSR_STEERING = "Steer to 0"
LONGITUDINAL = "ACC"
FSR_LONGITUDINAL = "No ACC accel below"
FSR_STEERING = "No ALC below"
STEERING_TORQUE = "Steering Torque"
HARNESS = "Harness"
class Star(Enum):
@@ -37,9 +32,46 @@ class Star(Enum):
EMPTY = "empty"
StarColumns = list(Column)[3:]
TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
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"
CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@@ -83,7 +115,7 @@ class CarInfo:
footnotes: List[Enum] = field(default_factory=list)
min_steer_speed: Optional[float] = None
min_enable_speed: Optional[float] = None
harness: Optional[Enum] = None
harness: Enum = Harness.none
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
# TODO: set all the min steer speeds in carParams and remove this
@@ -103,11 +135,11 @@ class CarInfo:
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
# StarColumns
Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock",
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
Column.HARNESS: self.harness.value,
}
# Set steering torque star from max lateral acceleration
@@ -115,26 +147,7 @@ class CarInfo:
if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.FULL
if CP.notCar:
for col in StarColumns:
self.row[col] = Star.FULL
self.all_footnotes = all_footnotes
for column in StarColumns:
# Demote if footnote specifies a star
for fn in get_footnotes(self.footnotes, column):
if fn.value.star is not None:
self.row[column] = fn.value.star
# openpilot ACC star doesn't count for tiers
full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
if full_stars == len(TierColumns):
self.tier = Tier.GOLD
elif full_stars == len(TierColumns) - 1:
self.tier = Tier.SILVER
else:
self.tier = Tier.BRONZE
self.year_list = get_year_list(self.years)
self.detail_sentence = self.get_detail_sentence(CP)
@@ -167,10 +180,9 @@ class CarInfo:
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
@no_type_check
def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
item: Union[str, Star] = self.row[column]
if column in StarColumns:
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
@@ -182,61 +194,3 @@ class CarInfo:
return item
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"
STAR_DESCRIPTIONS = {
"Gas & Brakes": { # icon and row name
Column.FSR_LONGITUDINAL.value: [
[Star.FULL.value, "openpilot operates down to 0 mph."],
[Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."],
],
},
"Steering": {
Column.FSR_STEERING.value: [
[Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
[Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."],
],
Column.STEERING_TORQUE.value: [
[Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."],
[Star.EMPTY.value, "Limited ability to make tighter turns."],
],
},
}
selfdrive/car/tests/test_docs.py
+1 -1
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@@ -13,7 +13,7 @@ class TestCarDocs(unittest.TestCase):
self.all_cars = get_all_car_info()
def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False)
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
with open(CARS_MD_OUT, "r") as f:
current_cars_md = f.read()
selfdrive/car/toyota/values.py
+2 -2
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@@ -6,7 +6,7 @@ from typing import Dict, List, Union
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
Ecu = car.CarParams.Ecu
MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -89,7 +89,7 @@ class Footnote(Enum):
DSU = CarFootnote(
"When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
"stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL, star=Star.HALF)
Column.LONGITUDINAL)
CAMRY = CarFootnote(
"openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)