Nissan: move to platform config (#31599)

* do nissan

* cleanup + fix

selfdrive/car/__init__.py

@@ -1,6 +1,6 @@
 # functions common among cars
 from collections import namedtuple
-from dataclasses import dataclass, field
+from dataclasses import dataclass, field, replace
 from enum import ReprEnum
 
 import capnp
@@ -267,6 +267,9 @@ class PlatformConfig:
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
+
 
 class Platforms(str, ReprEnum):
   config: PlatformConfig

selfdrive/car/nissan/interface.py

@@ -16,25 +16,13 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    if candidate in (CAR.ROGUE, CAR.XTRAIL):
-      ret.mass = 1610
-      ret.wheelbase = 2.705
-      ret.centerToFront = ret.wheelbase * 0.44
-    elif candidate in (CAR.LEAF, CAR.LEAF_IC):
-      ret.mass = 1610
-      ret.wheelbase = 2.705
-      ret.centerToFront = ret.wheelbase * 0.44
-    elif candidate == CAR.ALTIMA:
+    if candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
-      ret.mass = 1492
-      ret.wheelbase = 2.824
-      ret.centerToFront = ret.wheelbase * 0.44
 
     return ret
 

selfdrive/car/nissan/values.py

@@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import StrEnum
 
 from cereal import car
 from panda.python import uds
-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, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -20,29 +19,52 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  XTRAIL = "NISSAN X-TRAIL 2017"
-  LEAF = "NISSAN LEAF 2018"
-  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
-  # Currently the only known difference between them is the inverted seatbelt signal.
-  LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
-  ROGUE = "NISSAN ROGUE 2019"
-  ALTIMA = "NISSAN ALTIMA 2020"
-
-
 @dataclass
 class NissanCarInfo(CarInfo):
   package: str = "ProPILOT Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
 
-CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = {
-  CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
-  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
-  CAR.LEAF_IC: None,  # same platforms
-  CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
-  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
-}
+@dataclass(frozen=True)
+class NissanCarSpecs(CarSpecs):
+  centerToFrontRatio: float = 0.44
+  steerRatio: float = 17.
+
+
+@dataclass(frozen=True)
+class NissanPlaformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
+
+
+class CAR(Platforms):
+  XTRAIL = NissanPlaformConfig(
+    "NISSAN X-TRAIL 2017",
+    NissanCarInfo("Nissan X-Trail 2017"),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  LEAF = NissanPlaformConfig(
+    "NISSAN LEAF 2018",
+    NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+    dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
+  # Currently the only known difference between them is the inverted seatbelt signal.
+  LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None)
+  ROGUE = NissanPlaformConfig(
+    "NISSAN ROGUE 2019",
+    NissanCarInfo("Nissan Rogue 2018-20"),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  ALTIMA = NissanPlaformConfig(
+    "NISSAN ALTIMA 2020",
+    NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+    specs=NissanCarSpecs(mass=1492, wheelbase=2.824)
+  )
+
+
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()
 
 # Default diagnostic session
 NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
@@ -88,11 +110,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ]],
 )
-
-DBC = {
-  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
-  CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
-  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
-  CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
-  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
-}