Merge branch 'master' of https://github.com/commaai/opendbc into toyo…

…ta-rav4-more-fp

opendbc/car/CARS_template.md

@@ -0,0 +1,61 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
+# Support Information for {{car_docs_with_extras | length}} Known Cars
+
+|{{ExtraCarsColumn | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
+|---|---|---|{% for _ in range((ExtraCarsColumn | length) - 3) %}{{':---:|'}}{% endfor +%}
+{% for car_docs in car_docs_with_extras %}
+|{% for column in ExtraCarsColumn %}{{car_docs.get_extra_cars_column(column)}}|{% endfor %}
+
+{% endfor %}
+
+# Types of Support
+
+**opendbc can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported!
+We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car
+support comes from users like you!
+
+## Upstream
+
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better
+experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+
+## Under Review
+
+A vehicle under review is one for which software support has been merged into upstream openpilot, but hasn't yet been
+tested for drive quality and conformance with [comma safety guidelines](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md).
+This is a normal part of the development and quality assurance process. This vehicle will not work when upstream
+openpilot is installed, but custom forks may allow their use.
+
+## Custom
+
+Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
+these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
+location, or they might need unusual configuration after install.
+
+## Dashcam
+
+Dashcam vehicles have software support in upstream openpilot, but will go into "dashcam mode" at startup and will not
+engage. This may be due to known issues with driving safety or quality, or it may be a work in progress that isn't yet
+ready for safety and quality review.
+
+## Community
+
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community
+Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+## Incompatible
+
+### CAN Bus Security
+
+Vehicles with CAN security measures, such as AUTOSAR Secure Onboard Communication (SecOC) are not usable with openpilot
+unless the owner can recover the message signing key and implement CAN message signing. Examples include certain newer
+Toyota, and the GM Global B platform.
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
+CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
+manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
+may one day be supported, but we have no immediate plans to support FlexRay.

opendbc/car/__init__.py

@@ -1,14 +1,14 @@
 # functions common among cars
 import logging
 from collections import namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
 from panda import uds
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData
-from opendbc.car.docs_definitions import CarDocs
+from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
 from opendbc.car.common.numpy_fast import clip, interp
 
 # set up logging
@@ -270,8 +270,8 @@ def __setattr__(self, *args, **kwargs):
 
 
 @dataclass(order=True)
-class PlatformConfig(Freezable):
-  car_docs: list[CarDocs]
+class PlatformConfigBase(Freezable):
+  car_docs: list[CarDocs] | list[ExtraCarDocs]
   specs: CarSpecs
 
   dbc_dict: DbcDict
@@ -293,6 +293,20 @@ def __post_init__(self):
     self.init()
 
 
+@dataclass(order=True)
+class PlatformConfig(PlatformConfigBase):
+  car_docs: list[CarDocs]
+  specs: CarSpecs
+  dbc_dict: DbcDict
+
+
+@dataclass(order=True)
+class ExtraPlatformConfig(PlatformConfigBase):
+  car_docs: list[ExtraCarDocs]
+  specs: CarSpecs = CarSpecs(mass=0., wheelbase=0., steerRatio=0.)
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('unknown', None))
+
+
 class PlatformsType(EnumType):
   def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
     for key in classdict._member_names.keys():
@@ -303,7 +317,7 @@ def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **k
 
 
 class Platforms(str, ReprEnum, metaclass=PlatformsType):
-  config: PlatformConfig
+  config: PlatformConfigBase
 
   def __new__(cls, platform_config: PlatformConfig):
     member = str.__new__(cls, platform_config.platform_str)

opendbc/car/docs.py

@@ -1,13 +1,37 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from typing import get_args
+
 from collections import defaultdict
 import jinja2
 from enum import Enum
 from natsort import natsorted
 
+from opendbc.car.common.basedir import BASEDIR
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
+from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType
 from opendbc.car.car_helpers import interfaces, get_interface_attr
-from opendbc.car.values import PLATFORMS
+from opendbc.car.values import Platform, PLATFORMS
+from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.extra_cars import CAR as EXTRA
+
+
+EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")
+EXTRA_CARS_MD_TEMPLATE = os.path.join(BASEDIR, "CARS_template.md")
+
+ExtraPlatform = Platform | EXTRA
+EXTRA_BRANDS = get_args(ExtraPlatform)
+EXTRA_PLATFORMS: dict[str, ExtraPlatform] = {str(platform): platform for brand in EXTRA_BRANDS for platform in brand}
+
+
+def get_params_for_docs(model, platform) -> CarParams:
+  cp_model, cp_platform = (model, platform) if model in interfaces else ("MOCK", MOCK.MOCK)
+  CP: CarParams = interfaces[cp_model][0].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
+                                                     car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
+                                                     experimental_long=True, docs=True)
+  return CP
 
 
 def get_all_footnotes() -> dict[Enum, int]:
@@ -17,37 +41,47 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-def get_all_car_docs() -> list[CarDocs]:
-  all_car_docs: list[CarDocs] = []
-  footnotes = get_all_footnotes()
-  for model, platform in PLATFORMS.items():
+def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False, include_custom=False):
+  collected_car_docs: list[CarDocs | ExtraCarDocs] = []
+  for model, platform in platforms.items():
     car_docs = platform.config.car_docs
-    # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
-                                         car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)], experimental_long=True, docs=True)
+    CP = get_params_for_docs(model, platform)
 
-    if CP.dashcamOnly or not len(car_docs):
+    if (CP.dashcamOnly and not include_dashcam) or not len(car_docs):
       continue
 
     # A platform can include multiple car models
     for _car_docs in car_docs:
       if not hasattr(_car_docs, "row"):
         _car_docs.init_make(CP)
         _car_docs.init(CP, footnotes)
-      all_car_docs.append(_car_docs)
+      collected_car_docs.append(_car_docs)
 
   # Sort cars by make and model + year
-  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
+  sorted_cars = natsorted(collected_car_docs, key=lambda car: car.name.lower())
   return sorted_cars
 
 
+# CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
+def get_all_car_docs() -> list[CarDocs]:
+  collected_footnotes = get_all_footnotes()
+  sorted_list: list[CarDocs] = build_sorted_car_docs_list(PLATFORMS, footnotes=collected_footnotes)
+  return sorted_list
+
+
+def get_car_docs_with_extras() -> list[CarDocs | ExtraCarDocs]:
+  sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_custom=True, include_dashcam=True)
+  return sorted_list
+
+
 def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
   sorted_car_docs = defaultdict(list)
   for car_docs in all_car_docs:
     sorted_car_docs[car_docs.make].append(car_docs)
   return dict(sorted_car_docs)
 
 
+# CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
 def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   with open(template_fn) as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
@@ -57,3 +91,25 @@ def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
+
+
+def generate_cars_md_with_extras(car_docs_with_extras: list[CarDocs | ExtraCarDocs], template_fn: str) -> str:
+  with open(template_fn) as f:
+    template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
+
+  cars_md: str = template.render(car_docs_with_extras=car_docs_with_extras, PartType=PartType,
+                                 group_by_make=group_by_make, ExtraCarsColumn=ExtraCarsColumn)
+  return cars_md
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto generates supportability info docs for all known cars",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--template", default=EXTRA_CARS_MD_TEMPLATE, help="Override default template filename")
+  parser.add_argument("--out", default=EXTRA_CARS_MD_OUT, help="Override default generated filename")
+  args = parser.parse_args()
+
+  with open(args.out, 'w') as f:
+    f.write(generate_cars_md_with_extras(get_car_docs_with_extras(), args.template))
+  print(f"Generated and written to {args.out}")

opendbc/car/docs_definitions.py

@@ -24,6 +24,22 @@ class Column(Enum):
   VIDEO = "Video"
 
 
+class ExtraCarsColumn(Enum):
+  MAKE = "Make"
+  MODEL = "Model"
+  PACKAGE = "Package"
+  SUPPORT = "Support Level"
+
+
+class SupportType(Enum):
+  UPSTREAM = "Upstream"             # Actively maintained by comma, plug-and-play in release versions of openpilot
+  REVIEW = "Under review"           # Dashcam, but planned for official support after safety validation
+  DASHCAM = "Dashcam mode"          # Dashcam, but may be drivable in a community fork
+  COMMUNITY = "Community"           # Not upstream, but available in a custom community fork, not validated by comma
+  CUSTOM = "Custom"                 # Upstream, but don't have a harness available or need an unusual custom install
+  INCOMPATIBLE = "Not compatible"   # Known fundamental incompatibility such as Flexray or hydraulic power steering
+
+
 class Star(Enum):
   FULL = "full"
   HALF = "half"
@@ -246,14 +262,25 @@ class CarDocs:
   # all the parts needed for the supported car
   car_parts: CarParts = field(default_factory=CarParts)
 
+  merged: bool = True
+  support_type: SupportType = SupportType.UPSTREAM
+  support_link: str | None = "#upstream"
+
   def __post_init__(self):
     self.make, self.model, self.years = split_name(self.name)
     self.year_list = get_year_list(self.years)
 
-  def init(self, CP: CarParams, all_footnotes: dict[Enum, int]):
+  def init(self, CP: CarParams, all_footnotes=None):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
 
+    if self.merged and CP.dashcamOnly:
+      if self.support_type != SupportType.REVIEW:
+        self.support_type = SupportType.DASHCAM
+        self.support_link = "#dashcam"
+      else:
+        self.support_link = "#under-review"
+
     # longitudinal column
     op_long = "Stock"
     if CP.experimentalLongitudinalAvailable or CP.enableDsu:
@@ -308,6 +335,18 @@ def display_func(parts):
       Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
     }
 
+    if self.support_link is not None:
+      support_info = f"[{self.support_type.value}]({self.support_link})"
+    else:
+      support_info = self.support_type.value
+
+    self.extra_cars_row: dict[Enum, str] = {
+      ExtraCarsColumn.MAKE: self.make,
+      ExtraCarsColumn.MODEL: self.model,
+      ExtraCarsColumn.PACKAGE: self.package,
+      ExtraCarsColumn.SUPPORT: support_info,
+    }
+
     # Set steering torque star from max lateral acceleration
     assert CP.maxLateralAccel > 0.1
     if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
@@ -368,3 +407,18 @@ def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_t
       item += footnote_tag.format(f'{",".join(map(str, sups))}')
 
     return item
+
+  def get_extra_cars_column(self, column: ExtraCarsColumn) -> str:
+    item: str = self.extra_cars_row[column]
+    if column == ExtraCarsColumn.MODEL and len(self.years):
+      item += f" {self.years}"
+
+    return item
+
+
+@dataclass
+class ExtraCarDocs(CarDocs):
+  package: str = "Any"
+  merged: bool = False
+  support_type: SupportType = SupportType.INCOMPATIBLE
+  support_link: str | None = "#incompatible"

opendbc/car/extra_cars.py

@@ -0,0 +1,62 @@
+from dataclasses import dataclass
+
+from opendbc.car import structs, Platforms, ExtraPlatformConfig
+from opendbc.car.docs_definitions import ExtraCarDocs, SupportType
+
+
+@dataclass
+class CommunityCarDocs(ExtraCarDocs):
+  def init_make(self, CP: structs.CarParams):
+    self.support_type = SupportType.COMMUNITY
+    self.support_link = "#community"
+
+
+@dataclass
+class ToyotaSecurityCarDocs(ExtraCarDocs):
+  def init_make(self, CP: structs.CarParams):
+    self.support_type = SupportType.INCOMPATIBLE
+    self.support_link = "#can-bus-security"
+
+
+@dataclass
+class FlexRayCarDocs(ExtraCarDocs):
+  def init_make(self, CP: structs.CarParams):
+    self.support_type = SupportType.INCOMPATIBLE
+    self.support_link = "#flexray"
+
+
+class CAR(Platforms):
+  config: ExtraPlatformConfig
+
+  HYUNDAI_PALISADE_FACELIFT = ExtraPlatformConfig(
+    [
+      CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
+      CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
+    ],
+  )
+
+  TOYOTA_SECURITY_CARS = ExtraPlatformConfig(
+    [
+      ToyotaSecurityCarDocs("Subaru Solterra 2023-25"),
+      ToyotaSecurityCarDocs("Lexus NS 2022-25"),
+      ToyotaSecurityCarDocs("Toyota bZ4x 2023-25"),
+      ToyotaSecurityCarDocs("Toyota Camry 2025"),
+      ToyotaSecurityCarDocs("Toyota Corolla Cross 2022-25"),
+      ToyotaSecurityCarDocs("Toyota Highlander 2025"),
+      CommunityCarDocs("Toyota RAV4 Prime 2021-23"),
+      ToyotaSecurityCarDocs("Toyota RAV4 Prime 2024-25"),
+      ToyotaSecurityCarDocs("Toyota Sequoia 2023-25"),
+      CommunityCarDocs("Toyota Sienna 2021-23"),
+      ToyotaSecurityCarDocs("Toyota Sienna 2024-25"),
+      ToyotaSecurityCarDocs("Toyota Tundra 2022-25"),
+      ToyotaSecurityCarDocs("Toyota Venza 2021-25"),
+    ],
+  )
+
+  AUDI_FLEXRAY = ExtraPlatformConfig(
+    [
+      FlexRayCarDocs("Audi A4 2016-24", package="All"),
+      FlexRayCarDocs("Audi A5 2016-24", package="All"),
+      FlexRayCarDocs("Audi Q5 2017-24", package="All"),
+    ],
+  )