Car interface: set max lateral torque from table (#24789)

* json

* better naem

* Read from table

* formatting and default to nan

* Generate docs

* Read from table

* this should be the same

* Prius v is full

* test we always set the tunes correctly

add to release files

* Set for all cars

Set for all cars

* Revert tuning changes

Revert tuning changes

* remove that

* fixes

* update ref commit for new maxLateralAccels

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 3066ad81a8b2f89a22ddfc86a879395c573ce0f5

selfdrive/car/interfaces.py

@@ -1,3 +1,4 @@
+import json
 import os
 import time
 from abc import abstractmethod, ABC
@@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
 
 
 # generic car and radar interfaces
@@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = float('nan')
+    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
     ret.steerLimitTimer = 1.0
     return ret
 
+  @staticmethod
+  def get_torque_params(candidate, default=float('NaN')):
+    with open(TORQUE_PARAMS_PATH) as f:
+      data = json.load(f)
+    return {key: data[key].get(candidate, default) for key in data}
+
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
     pass