Car docs: pass docs flag to car interfaces (#27311)

* docs

* docs

* docs

* docs

* use docs in gm

selfdrive/car/body/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

selfdrive/car/car_helpers.py

@@ -187,7 +187,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/chrysler/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 

selfdrive/car/docs.py

@@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True)
 
     if CP.dashcamOnly or car_info is None:
       continue

selfdrive/car/ford/interface.py

@@ -11,7 +11,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
 

selfdrive/car/gm/interface.py

@@ -69,11 +69,10 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
-    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
@@ -110,7 +109,7 @@ class CarInterface(CarInterfaceBase):
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS

selfdrive/car/honda/interface.py

@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:

selfdrive/car/hyundai/interface.py

@@ -19,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 

selfdrive/car/interfaces.py

@@ -93,12 +93,12 @@ class CarInterfaceBase(ABC):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Set common params using fields set by the car interface
     # TODO: get actual value, for now starting with reasonable value for
@@ -115,7 +115,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True

selfdrive/car/mock/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     self.prev_speed = 0.
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.

selfdrive/car/nissan/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False

selfdrive/car/subaru/interface.py

@@ -9,7 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, Subaru
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,

selfdrive/car/tests/test_car_interfaces.py

@@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase):
 
     car_fw = []
 
-    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False)
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface

selfdrive/car/tests/test_models.py

@@ -103,7 +103,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long)
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 

selfdrive/car/toyota/interface.py

@@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]

selfdrive/car/volkswagen/interface.py

@@ -21,18 +21,16 @@ class CarInterface(CarInterfaceBase):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
-    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs
-
     if candidate in PQ_CARS:
       # Set global PQ35/PQ46/NMS parameters
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
-      if 0x440 in fingerprint[0] or use_off_car_defaults:  # Getriebe_1
+      if 0x440 in fingerprint[0] or docs:  # Getriebe_1
         ret.transmissionType = TransmissionType.automatic
       else:
         ret.transmissionType = TransmissionType.manual
@@ -55,7 +53,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
-      if 0xAD in fingerprint[0] or use_off_car_defaults:  # Getriebe_11
+      if 0xAD in fingerprint[0] or docs:  # Getriebe_11
         ret.transmissionType = TransmissionType.automatic
       elif 0x187 in fingerprint[0]:  # EV_Gearshift
         ret.transmissionType = TransmissionType.direct
@@ -80,7 +78,7 @@ class CarInterface(CarInterfaceBase):
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
-    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults
+    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
     if experimental_long:
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True