Car docs: add auto-resume column (commaai#25572)

* Move auto resume in sng to car interface * Update docs * shorter name, star * order * resumes? * add hidden detail sentence * good to know this works, but revert * VW auto resume * bump cereal to master * Update ref_commit * match cereal * try this * ? ? * like this
jflorchi · Aug 31, 2022 · 452d5e4 · 452d5e4
1 parent c6b749f
commit 452d5e4
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Showing 10 changed files with 221 additions and 215 deletions.
diff --git a/cereal b/cereal
diff --git a/docs/CARS.md b/docs/CARS.md
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
@@ -10,10 +10,6 @@
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
-# Makes that lack auto-resume with stock long, and auto resume in any configuration
-NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
-NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
-
 
 class Column(Enum):
   MAKE = "Make"
@@ -23,6 +19,7 @@ class Column(Enum):
   FSR_LONGITUDINAL = "No ACC accel below"
   FSR_STEERING = "No ALC below"
   STEERING_TORQUE = "Steering Torque"
+  AUTO_RESUME = "Resume from stop"
   HARNESS = "Harness"
 
 
@@ -139,6 +136,7 @@ def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
       Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.STEERING_TORQUE: Star.EMPTY,
+      Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
       Column.HARNESS: self.harness.value,
     }
 
@@ -166,7 +164,7 @@ def get_detail_sentence(self, CP):
       acc = ""
       if self.min_enable_speed > 0:
         acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
+      elif CP.autoResumeSng:
         acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -49,6 +49,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.autoResumeSng = False
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -107,11 +107,14 @@ def get_std_params(candidate, fingerprint):
     ret = car.CarParams.new_message()
     ret.carFingerprint = candidate
 
+    # Car docs fields
+    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
+
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this

diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
@@ -13,6 +13,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
 
     ret.steerLimitTimer = 1.0
 

diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -15,6 +15,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret.carName = "subaru"
     ret.radarOffCan = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
+    ret.autoResumeSng = False
 
     if candidate in PREGLOBAL_CARS:
       ret.enableBsm = 0x25c in fingerprint[0]

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -218,6 +218,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
     ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
 
     if not ret.openpilotLongitudinalControl:
+      ret.autoResumeSng = False
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
     # we can't use the fingerprint to detect this reliably, since

diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
@@ -197,6 +197,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     else:
       raise ValueError(f"unsupported car {candidate}")
 
+    ret.autoResumeSng = ret.minEnableSpeed == -1
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
     ret.centerToFront = ret.wheelbase * 0.45
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-656daeb9de3680258527500ecae4ddff323b2e59
+af74c25e869d1128c0277f789e8f88bb95c5be1b