make CAR class enum, and values.py formatting

selfdrive/car/chrysler/values.py

@@ -1,15 +1,18 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
   STEER_DELTA_DOWN = 3    # no faults on the way down it seems
   STEER_ERROR_MAX = 80
 
 
-class CAR:
+class CAR(Enum):
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
@@ -18,6 +21,7 @@ class CAR:
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
 
+
 # Unique CAN messages:
 # Only the hybrids have 270: 8
 # Only the gas have 55: 8, 416: 7

selfdrive/car/ford/values.py

@@ -1,12 +1,16 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
 MAX_ANGLE = 87.  # make sure we never command the extremes (0xfff) which cause latching fault
 
-class CAR:
+
+class CAR(Enum):
   FUSION = "FORD FUSION 2018"
 
+
 DBC = {
   CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }

selfdrive/car/gm/values.py

@@ -1,8 +1,11 @@
+from enum import Enum
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
-class CarControllerParams():
+
+class CarControllerParams:
   STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
   STEER_STEP = 2  # control frames per command
   STEER_DELTA_UP = 7
@@ -18,27 +21,29 @@ class CarControllerParams():
   CAMERA_KEEPALIVE_STEP = 100
 
   # Volt gasbrake lookups
-  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048 # Coasting
-  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048  # Coasting
+  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2. # m/s^2
-  ACCEL_MIN = -4. # m/s^2
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
 
   MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
   GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
   BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
+
 STEER_THRESHOLD = 1.0
 
-class CAR:
+
+class CAR(Enum):
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
@@ -47,6 +52,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
 
+
 class CruiseButtons:
   INIT = 0
   UNPRESS = 1
@@ -55,19 +61,22 @@ class CruiseButtons:
   MAIN = 5
   CANCEL = 6
 
+
 class AccState:
   OFF = 0
   ACTIVE = 1
   FAULTED = 3
   STANDSTILL = 4
 
+
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
 
+
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
   CAR.HOLDEN_ASTRA: [{
@@ -82,7 +91,7 @@ class CanBus:
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
   }],
-  CAR.BUICK_REGAL : [
+  CAR.BUICK_REGAL: [
   # Regal TourX Essence w/ ACC 2018
   {
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8

selfdrive/car/honda/values.py

@@ -1,4 +1,4 @@
-from enum import IntFlag
+from enum import Enum, IntFlag
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -51,6 +51,7 @@ class CruiseButtons:
   CANCEL = 2
   MAIN = 1
 
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
@@ -63,7 +64,8 @@ class CruiseButtons:
   VisualAlert.speedTooHigh: 8
 }
 
-class CAR:
+
+class CAR(Enum):
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"
@@ -87,6 +89,7 @@ class CAR:
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
 
+
 FW_VERSIONS = {
   CAR.ACCORD: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [

selfdrive/car/hyundai/values.py

@@ -1,11 +1,14 @@
+from enum import Enum
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
+
 # Steer torque limits
 class CarControllerParams:
-  ACCEL_MIN = -3.5 # m/s
-  ACCEL_MAX = 2.0 # m/s
+  ACCEL_MIN = -3.5  # m/s
+  ACCEL_MAX = 2.0  # m/s
 
   def __init__(self, CP):
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
@@ -22,7 +25,8 @@ def __init__(self, CP):
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
 
-class CAR:
+
+class CAR(Enum):
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
@@ -74,6 +78,7 @@ class Buttons:
   GAP_DIST = 3
   CANCEL = 4
 
+
 FINGERPRINTS = {
   CAR.ELANTRA: [{
     66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
@@ -927,23 +932,23 @@ class Buttons:
     ],
   },
   CAR.ELANTRA_HEV_2021: {
-    (Ecu.fwdCamera, 0x7c4, None) : [
+    (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
     ],
-    (Ecu.fwdRadar, 0x7d0, None) : [
+    (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
       b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
     ],
-    (Ecu.eps, 0x7d4, None) :[
+    (Ecu.eps, 0x7d4, None): [
       b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
     ],
-    (Ecu.transmission, 0x7e1, None) :[
+    (Ecu.transmission, 0x7e1, None): [
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
       b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None) : [
+    (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
     ]
   },

selfdrive/car/mazda/values.py

@@ -1,3 +1,5 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
@@ -14,19 +16,22 @@ class CarControllerParams:
   STEER_DRIVER_FACTOR = 1         # from dbc
   STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
 
-class CAR:
+
+class CAR(Enum):
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
   MAZDA6 = "MAZDA 6"
   CX9_2021 = "MAZDA CX-9 2021"
   CX5_2022 = "MAZDA CX-5 2022"
 
+
 class LKAS_LIMITS:
   STEER_THRESHOLD = 15
   DISABLE_SPEED = 45    # kph
   ENABLE_SPEED = 52     # kph
 
+
 class Buttons:
   NONE = 0
   SET_PLUS = 1
@@ -36,7 +41,7 @@ class Buttons:
 
 
 FW_VERSIONS = {
-  CAR.CX5_2022 : {
+  CAR.CX5_2022: {
     (Ecu.eps, 0x730, None): [
       b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -122,7 +127,7 @@ class Buttons:
     ],
   },
 
-  CAR.CX9 : {
+  CAR.CX9: {
     (Ecu.eps, 0x730, None): [
       b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -234,7 +239,7 @@ class Buttons:
     ],
   },
 
-  CAR.CX9_2021 : {
+  CAR.CX9_2021: {
     (Ecu.eps, 0x730, None): [
       b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

selfdrive/car/mock/values.py

@@ -1,2 +1,5 @@
-class CAR:
+from enum import Enum
+
+
+class CAR(Enum):
   MOCK = 'mock'

selfdrive/car/nissan/values.py

@@ -1,3 +1,5 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
@@ -10,7 +12,8 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
-class CAR:
+
+class CAR(Enum):
   XTRAIL = "NISSAN X-TRAIL 2017"
   LEAF = "NISSAN LEAF 2018"
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox

selfdrive/car/subaru/values.py

@@ -1,7 +1,10 @@
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   def __init__(self, CP):
     if CP.carFingerprint == CAR.IMPREZA_2020:
@@ -15,7 +18,8 @@ def __init__(self, CP):
     self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
-class CAR:
+
+class CAR(Enum):
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
@@ -25,6 +29,7 @@ class CAR:
   OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
   OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
+
 FINGERPRINTS = {
   CAR.IMPREZA: [{
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8

selfdrive/car/tesla/values.py

@@ -1,14 +1,18 @@
 from collections import namedtuple
+from enum import Enum
+
 from selfdrive.car import dbc_dict
 from cereal import car
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
-class CAR:
+
+class CAR(Enum):
   AP1_MODELS = 'TESLA AP1 MODEL S'
   AP2_MODELS = 'TESLA AP2 MODEL S'
 
+
 FINGERPRINTS = {
   CAR.AP2_MODELS: [
     {
@@ -27,6 +31,7 @@ class CAR:
   CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
 }
 
+
 class CANBUS:
   # Lateral harness
   chassis = 0
@@ -38,6 +43,7 @@ class CANBUS:
   private = 5
   autopilot_powertrain = 6
 
+
 GEAR_MAP = {
   "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
   "DI_GEAR_P": car.CarState.GearShifter.park,
@@ -59,6 +65,7 @@ class CANBUS:
   Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
 ]
 
+
 class CarControllerParams:
   RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
   RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])

selfdrive/car/toyota/values.py

@@ -1,5 +1,5 @@
 from collections import defaultdict
-from enum import IntFlag
+from enum import Enum, IntFlag
 
 from cereal import car
 from selfdrive.car import dbc_dict
@@ -24,7 +24,7 @@ class ToyotaFlags(IntFlag):
   HYBRID = 1
 
 
-class CAR:
+class CAR(Enum):
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
   AVALON = "TOYOTA AVALON 2016"