Toyota: use platform config

selfdrive/car/__init__.py

@@ -248,25 +248,29 @@ def update(self, current_value, current_counter):
 
 @dataclass(frozen=True, kw_only=True)
 class CarSpecs:
-  mass: float
-  wheelbase: float
+  mass: float  # kg
+  wheelbase: float  # m
   steerRatio: float
   centerToFrontRatio: float = field(default=0.5)
-  minSteerSpeed: float = field(default=0.)
-  minEnableSpeed: float = field(default=-1.)
+  minSteerSpeed: float = field(default=0.)  # m/s
+  minEnableSpeed: float = field(default=-1.)  # m/s
+  tireStiffnessFactor: float = field(default=1.)
 
 
-@dataclass(frozen=True, order=True)
+@dataclass(order=True)
 class PlatformConfig:
   platform_str: str
   car_info: CarInfos
-  dbc_dict: DbcDict
+  dbc_dict: DbcDict = None  # needs a test
 
   specs: CarSpecs | None = None
 
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
+  def init_config(self):
+    pass
+
 
 class Platforms(str, ReprEnum):
   config: PlatformConfig
@@ -277,6 +281,10 @@ def __new__(cls, platform_config: PlatformConfig):
     member._value_ = platform_config.platform_str
     return member
 
+  @classmethod
+  def init_configs(cls):
+    [p.config.init_config() for p in cls]
+
   @classmethod
   def create_dbc_map(cls) -> dict[str, DbcDict]:
     return {p: p.config.dbc_dict for p in cls}

selfdrive/car/ford/values.py

@@ -63,7 +63,7 @@ def init_make(self, CP: car.CarParams):
       self.car_parts = CarParts([Device.threex, harness])
 
 
-@dataclass(frozen=True)
+@dataclass(frozen=False)
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 

selfdrive/car/gm/values.py

@@ -79,7 +79,7 @@ def init_make(self, CP: car.CarParams):
       self.footnotes.append(Footnote.OBD_II)
 
 
-@dataclass(frozen=True)
+@dataclass(frozen=False)
 class GMPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 

selfdrive/car/subaru/values.py

@@ -89,7 +89,7 @@ def init_make(self, CP: car.CarParams):
       self.footnotes.append(Footnote.EXP_LONG)
 
 
-@dataclass(frozen=True)
+@dataclass(frozen=False)
 class SubaruPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
 

selfdrive/car/tests/test_docs.py

@@ -11,6 +11,7 @@
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.debug.dump_car_info import dump_car_info
 from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 class TestCarDocs(unittest.TestCase):
@@ -26,6 +27,12 @@ def test_generator(self):
     self.assertEqual(generated_cars_md, current_cars_md,
                      "Run selfdrive/car/docs.py to update the compatibility documentation")
 
+  def test_platforms(self):
+    for platform in PLATFORMS.values():
+      if hasattr(platform, "config"):
+        self.assertIsNotNone(platform.config)
+        self.assertIsNotNone(platform.config.dbc_dict)
+
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
     dump_car_info(dump_path)