break up selfdrive.config (#23959)

adeebshihadeh · web-flow · commit 5c3f3e44bc7b · 2022-03-13T21:42:39.000-07:00
* break up selfdrive.config

* add to release files

* fix import order
diff --git a/common/conversions.py b/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
diff --git a/release/files_common b/release/files_common
@@ -17,6 +17,7 @@ site_scons/site_tools/cython.py
 
 common/.gitignore
 common/__init__.py
+common/conversions.py
 common/gpio.py
 common/realtime.py
 common/clock.pyx
@@ -69,7 +70,6 @@ installer/updater/updater
 selfdrive/version.py
 
 selfdrive/__init__.py
-selfdrive/config.py
 selfdrive/sentry.py
 selfdrive/swaglog.py
 selfdrive/logmessaged.py
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
 
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
-from opendbc.can.parser import CANParser
+from common.conversions import Conversions as CV
 from common.numpy_fast import mean
-from selfdrive.config import Conversions as CV
+from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.ford.values import DBC
 
diff --git a/selfdrive/car/ford/interface.py b/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
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
+from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from selfdrive.car.ford.values import DBC
-from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_MSGS = list(range(0x500, 0x540))
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -1,11 +1,11 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
 from common.numpy_fast import interp
-from selfdrive.config import Conversions as CV
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -1,10 +1,11 @@
 #!/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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 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
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
+from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from selfdrive.car.gm.values import DBC, CAR, CanBus
-from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
@@ -1,9 +1,10 @@
-from cereal import car
 from collections import defaultdict
+
+from cereal import car
+from common.conversions import Conversions as CV
 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 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
 
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
+from common.conversions import Conversions as CV
 from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
-from selfdrive.config import Conversions as CV
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
+from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 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
 
 
 ButtonType = car.CarState.ButtonEvent.Type
diff --git a/selfdrive/car/hyundai/carcontroller.py b/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
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
@@ -1,10 +1,10 @@
 import copy
 from cereal import car
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
-from selfdrive.car.interfaces import CarStateBase
+from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.config import Conversions as CV
+from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
+from selfdrive.car.interfaces import CarStateBase
 
 
 class CarState(CarStateBase):
diff --git a/selfdrive/car/hyundai/interface.py b/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
diff --git a/selfdrive/car/interfaces.py b/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
diff --git a/selfdrive/car/mazda/carstate.py b/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
diff --git a/selfdrive/car/mazda/interface.py b/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
diff --git a/selfdrive/car/mock/interface.py b/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
diff --git a/selfdrive/car/nissan/carstate.py b/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
 
diff --git a/selfdrive/car/subaru/carstate.py b/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
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
@@ -1,10 +1,10 @@
 import copy
 from cereal import car
+from common.conversions import Conversions as CV
 from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 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
 
 class CarState(CarStateBase):
   def __init__(self, CP):
diff --git a/selfdrive/car/tesla/teslacan.py b/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
 
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -1,11 +1,11 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from common.numpy_fast import mean
 from common.filter_simple import FirstOrderFilter
 from common.realtime import DT_CTRL
 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 selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, EPS_SCALE
 
 
diff --git a/selfdrive/car/toyota/interface.py b/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
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
@@ -2,8 +2,8 @@
 from enum import IntFlag
 
 from cereal import car
+from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.config import Conversions as CV
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
diff --git a/selfdrive/car/volkswagen/carstate.py b/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
diff --git a/selfdrive/config.py b/selfdrive/config.py
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.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
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
@@ -1,6 +1,6 @@
 from cereal import log
+from common.conversions import Conversions as CV
 from common.realtime import DT_MDL
-from selfdrive.config import Conversions as CV
 
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.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,
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -4,8 +4,8 @@
 
 from cereal import log, car
 import cereal.messaging as messaging
+from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
-from selfdrive.config import Conversions as CV
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from selfdrive.version import get_short_branch
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -4,10 +4,10 @@
 from common.numpy_fast import interp
 
 import cereal.messaging as messaging
+from common.conversions import Conversions as CV
 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 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
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.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):
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.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
 
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
