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Tesla: move to platform config (#31648)

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tesla platform config
This commit is contained in:
Justin Newberry
2024-02-29 14:11:37 -05:00
committed by GitHub
parent f775faf26d
commit 80807879de
2 changed files with 21 additions and 23 deletions
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selfdrive/car/tesla/interface.py
+1 -9
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
from openpilot.selfdrive.car.tesla.values import CANBUS
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -41,14 +41,6 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100.
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0
else:
raise ValueError(f"Unsupported car: {candidate}")
return ret
def _update(self, c):
selfdrive/car/tesla/values.py
+20 -14
View File
@@ -1,8 +1,8 @@
from collections import namedtuple
from enum import StrEnum
from dataclasses import dataclass, field
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -11,22 +11,24 @@ Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR(StrEnum):
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
@dataclass
class TeslaPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
class CAR(Platforms):
AP1_MODELS = TeslaPlatformConfig(
'TESLA AP1 MODEL S',
CarInfo("Tesla AP1 Model S", "All"),
specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
)
AP2_MODELS = TeslaPlatformConfig(
'TESLA AP2 MODEL S',
CarInfo("Tesla AP2 Model S", "All"),
specs=AP1_MODELS.specs
)
DBC = {
CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
}
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
@@ -88,3 +90,7 @@ class CarControllerParams:
def __init__(self, CP):
pass
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()