Body: move to car specs (#31666)

* specs

* override

* fixes 1

* fix 3

* fixes 4

* fixes

* fixes

* fixc

* fix number 723124

* that too

* fixes

* aa

* do body real quick too

* body too
old-commit-hash: a5ee1638b8d4f7dde23b9160e26d715cd1420202

selfdrive/car/body/interface.py

@@ -14,14 +14,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerRatio = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
-    ret.mass = 9
-    ret.wheelbase = 0.406
     ret.wheelSpeedFactor = SPEED_FROM_RPM
-    ret.centerToFront = ret.wheelbase * 0.44
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True

selfdrive/car/body/values.py

@@ -1,5 +1,5 @@
 from cereal import car
-from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -24,6 +24,7 @@ class CAR(Platforms):
     "COMMA BODY",
     CarInfo("comma body", package="All"),
     dbc_dict('comma_body', None),
+    specs=CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44)
   )
 
 

selfdrive/car/tests/test_platform_configs.py

@@ -16,8 +16,7 @@ class TestPlatformConfigs(unittest.TestCase):
           self.assertIn("pt", platform.config.dbc_dict)
           self.assertTrue(len(platform.config.platform_str) > 0)
 
-          # enable when all cars have specs
-          #self.assertIsNotNone(platform.config.specs)
+          self.assertIsNotNone(platform.config.specs)
 
 
 if __name__ == "__main__":