break up selfdrive.config

Author: adeebshihadeh

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

release/files_common

@@ -69,7 +69,6 @@ installer/updater/updater
 selfdrive/version.py
 
 selfdrive/__init__.py
-selfdrive/config.py
 selfdrive/sentry.py
 selfdrive/swaglog.py
 selfdrive/logmessaged.py

selfdrive/car/chrysler/carstate.py

@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
 

selfdrive/car/ford/carstate.py

@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from common.numpy_fast import mean
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.ford.values import DBC
 

selfdrive/car/ford/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.ford.values import MAX_ANGLE
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

selfdrive/car/ford/radar_interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.ford.values import DBC
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_MSGS = list(range(0x500, 0x540))

selfdrive/car/gm/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from common.realtime import DT_CTRL
 from common.numpy_fast import interp
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams

selfdrive/car/gm/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.gm.values import CAR, CruiseButtons, \
                                     AccState, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config

selfdrive/car/gm/radar_interface.py

@@ -3,7 +3,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.gm.values import DBC, CAR, CanBus
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120

selfdrive/car/honda/carstate.py

@@ -3,7 +3,7 @@
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
 from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side

selfdrive/car/honda/interface.py

@@ -7,7 +7,7 @@
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 
 ButtonType = car.CarState.ButtonEvent.Type

selfdrive/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from common.realtime import DT_CTRL
 from common.numpy_fast import clip, interp
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR

selfdrive/car/hyundai/carstate.py

@@ -4,7 +4,7 @@
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 
 class CarState(CarStateBase):

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.params import Params
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config

selfdrive/car/interfaces.py

@@ -7,7 +7,7 @@
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel

selfdrive/car/mazda/carstate.py

@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase

selfdrive/car/mazda/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

selfdrive/car/mock/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config

selfdrive/car/nissan/carstate.py

@@ -3,7 +3,7 @@
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 

selfdrive/car/subaru/carstate.py

@@ -1,7 +1,7 @@
 import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS

selfdrive/car/tesla/carstate.py

@@ -4,7 +4,7 @@
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 class CarState(CarStateBase):
   def __init__(self, CP):

selfdrive/car/tesla/teslacan.py

@@ -1,6 +1,6 @@
 import copy
 import crcmod
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.tesla.values import CANBUS, CarControllerParams
 
 

selfdrive/car/toyota/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, EPS_SCALE
 
 

selfdrive/car/toyota/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config

selfdrive/car/toyota/values.py

@@ -3,7 +3,7 @@
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS

selfdrive/car/volkswagen/carstate.py

@@ -1,6 +1,6 @@
 import numpy as np
 from cereal import car
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine

selfdrive/config.py

@@ -9,7 +9,7 @@
 from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can

selfdrive/controls/controlsd.py

@@ -1,6 +1,6 @@
 from cereal import log
 from common.realtime import DT_MDL
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection

selfdrive/controls/lib/desire_helper.py

@@ -2,7 +2,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from common.realtime import DT_MDL
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.modeld.constants import T_IDXS
 
 # WARNING: this value was determined based on the model's training distribution,

selfdrive/controls/lib/drive_helpers.py

@@ -5,7 +5,7 @@
 from cereal import log, car
 import cereal.messaging as messaging
 from common.realtime import DT_CTRL
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from selfdrive.version import get_short_branch
 

selfdrive/controls/lib/events.py

@@ -7,7 +7,7 @@
 from common.filter_simple import FirstOrderFilter
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,6 +1,5 @@
 from common.numpy_fast import mean
 from common.kalman.simple_kalman import KF1D
-from selfdrive.config import RADAR_TO_CAMERA
 
 
 # the longer lead decels, the more likely it will keep decelerating
@@ -13,6 +12,8 @@
 # stationary qualification parameters
 v_ego_stationary = 4.   # no stationary object flag below this speed
 
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52   # RADAR is ~ 1.5m ahead from center of mesh frame
 
 class Track():
   def __init__(self, v_lead, kalman_params):

selfdrive/controls/lib/radar_helpers.py

@@ -8,9 +8,8 @@
 from common.numpy_fast import interp
 from common.params import Params
 from common.realtime import Ratekeeper, Priority, config_realtime_process
-from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
-from selfdrive.controls.lib.radar_helpers import Cluster, Track
+from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
 from selfdrive.swaglog import cloudlog
 from selfdrive.hardware import TICI
 

selfdrive/controls/radard.py

@@ -18,7 +18,7 @@
 from common.transformations.model import model_height
 from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
-from selfdrive.config import Conversions as CV
+from common.conversions import Conversions as CV
 from selfdrive.hardware import TICI
 from selfdrive.swaglog import cloudlog
 

selfdrive/locationd/calibrationd.py

@@ -10,8 +10,7 @@
 from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
                                            tici_f_frame_size, tici_f_focal_length,
                                            get_view_frame_from_calib_frame)
-from selfdrive.config import UIParams as UP
-from selfdrive.config import RADAR_TO_CAMERA
+from selfdrive.controls.lib.radar_helpers import RADAR_TO_CAMERA
 
 
 RED = (255, 0, 0)
@@ -24,6 +23,15 @@
 _FULL_FRAME_SIZE = {
 }
 
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = 110
+UP = UIParams
+
 _BB_TO_FULL_FRAME = {}
 _CALIB_BB_TO_FULL = {}
 _FULL_FRAME_TO_BB = {}

tools/replay/lib/ui_helpers.py

@@ -10,8 +10,7 @@
 import cereal.messaging as messaging
 from common.numpy_fast import clip
 from common.basedir import BASEDIR
-from selfdrive.config import UIParams as UP
-from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME,
+from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
                                          _INTRINSICS, BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,