everything is in car interface

opendbc/car/body/interface.py

@@ -2,18 +2,23 @@
 from opendbc.car import get_safety_config, structs
 from opendbc.car.body.carcontroller import CarController
 from opendbc.car.body.carstate import CarState
-from opendbc.car.body.values import SPEED_FROM_RPM
+from opendbc.car.body.fingerprints import FW_VERSIONS, FINGERPRINTS
+from opendbc.car.body.values import FW_QUERY_CONFIG, CAR, SPEED_FROM_RPM
 from opendbc.car.interfaces import CarInterfaceBase
 
 
-class CarInterface(CarInterfaceBase):
+class BodyInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
+  CAR = CAR
+  BRAND = "body"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
+  FINGERPRINTS = FINGERPRINTS
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.notCar = True
-    ret.brand = "body"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf

opendbc/car/car_helpers.py

@@ -7,36 +7,17 @@
 from opendbc.car.structs import CarParams, CarParamsT
 from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
-from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.values import BRANDS
+from opendbc.car.mock.interface import MockInterface
+from opendbc.car.values import ALL_INTERFACES
 from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
 FRAME_FINGERPRINT = 100  # 1s
 
-
-def load_interfaces(brand_names):
-  ret = {}
-  for brand_name in brand_names:
-    path = f'opendbc.car.{brand_name}'
-    CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-    for model_name in brand_names[brand_name]:
-      ret[model_name] = CarInterface
-  return ret
-
-
-def _get_interface_names() -> dict[str, list[str]]:
-  # returns a dict of brand name and its respective models
-  brand_names = {}
-  for brand in BRANDS:
-    brand_name = brand.__module__.split('.')[-2]
-    brand_names[brand_name] = [model.value for model in brand]
-
-  return brand_names
-
-
-# imports from directory opendbc/car/<name>/
-interface_names = _get_interface_names()
-interfaces = load_interfaces(interface_names)
+# Map every platform string to its brand's Interface. Interface carries
+# its platform enum as a class attribute (CAR), so no dynamic import is needed.
+interfaces: dict[str, type] = {
+  platform.value: ci for ci in ALL_INTERFACES for platform in ci.CAR
+}
 
 
 def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
@@ -156,8 +137,8 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
     candidate = "MOCK"
 
-  CarInterface = interfaces[candidate]
-  CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
+  Interface = interfaces[candidate]
+  CP: CarParams = Interface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
@@ -167,7 +148,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
 
 
 def get_demo_car_params():
-  platform = MOCK.MOCK
-  CarInterface = interfaces[platform]
-  CP = CarInterface.get_non_essential_params(platform)
+  platform = MockInterface.CAR.MOCK
+  Interface = interfaces[platform]
+  CP = Interface.get_non_essential_params(platform)
   return CP

opendbc/car/chrysler/interface.py

@@ -3,20 +3,24 @@
 from opendbc.car.chrysler.carcontroller import CarController
 from opendbc.car.chrysler.carstate import CarState
 from opendbc.car.chrysler.radar_interface import RadarInterface
-from opendbc.car.chrysler.values import CAR, CUSW_CARS, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
+from opendbc.car.chrysler.fingerprints import FW_VERSIONS
+from opendbc.car.chrysler.values import FW_QUERY_CONFIG, CAR, CUSW_CARS, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 
-class CarInterface(CarInterfaceBase):
+class ChryslerInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
   RadarInterface = RadarInterface
+  CAR = CAR
+  BRAND = "chrysler"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
 
   DRIVABLE_GEARS = (structs.CarState.GearShifter.low,)
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
-    ret.brand = "chrysler"
 
     # TODO: Chrysler CUSW in dashcam pending comma safety validation and a fix for LKAS fault on disengage
     ret.dashcamOnly = candidate in (RAM_HD | CUSW_CARS)

opendbc/car/docs.py

@@ -14,9 +14,9 @@
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs, ExtraCarsColumn, CommonFootnote
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.values import FOOTNOTES
 from opendbc.car.values import Platform
-from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.mock.interface import MockInterface
 from opendbc.car.extra_cars import CAR as EXTRA
 
 
@@ -30,7 +30,7 @@
 
 
 def get_params_for_docs(platform) -> CarParams:
-  cp_platform = platform if platform in interfaces else MOCK.MOCK
+  cp_platform = platform if platform in interfaces else MockInterface.CAR.MOCK
   CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
                                                      car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
                                                      alpha_long=True, is_release=True, docs=True)
@@ -39,7 +39,7 @@ def get_params_for_docs(platform) -> CarParams:
 
 def get_all_footnotes() -> dict[Enum, int]:
   all_footnotes = list(CommonFootnote)
-  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
+  for footnotes in FOOTNOTES:
     all_footnotes.extend(footnotes)
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 

opendbc/car/fingerprints.py

@@ -1,4 +1,4 @@
-from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.values import FINGERPRINTS as _FINGERPRINTS
 from opendbc.car.body.values import CAR as BODY
 from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.ford.values import CAR as FORD
@@ -13,9 +13,6 @@
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VW
 
-FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
-_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
-
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
 

opendbc/car/ford/interface.py

@@ -6,16 +6,22 @@
 from opendbc.car.ford.carstate import CarState
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.radar_interface import RadarInterface
-from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
+from opendbc.car.ford.fingerprints import FW_VERSIONS
+from opendbc.car.ford.values import Footnote, FW_QUERY_CONFIG, CAR, CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
 
 
-class CarInterface(CarInterfaceBase):
+class FordInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
   RadarInterface = RadarInterface
+  CAR = CAR
+  BRAND = "ford"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
+  Footnote = Footnote
 
   DRIVABLE_GEARS = (structs.CarState.GearShifter.low, structs.CarState.GearShifter.manumatic)
 
@@ -29,7 +35,6 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
-    ret.brand = "ford"
 
     ret.radarUnavailable = Bus.radar not in DBC[candidate]
     ret.steerControlType = structs.CarParams.SteerControlType.angle

opendbc/car/fw_versions.py

@@ -9,17 +9,13 @@
 from opendbc.car.carlog import carlog
 from opendbc.car.structs import CarParams
 from opendbc.car.ecu_addrs import get_ecu_addrs
-from opendbc.car.fingerprints import FW_VERSIONS
-from opendbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
-from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.values import FW_VERSIONS, FW_QUERY_CONFIGS, VERSIONS
+from opendbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, LiveFwVersions, OfflineFwVersions
 from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
 
 Ecu = CarParams.Ecu
 FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
-VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
-
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
 REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 

opendbc/car/gm/interface.py

@@ -7,7 +7,8 @@
 from opendbc.car.gm.carcontroller import CarController
 from opendbc.car.gm.carstate import CarState
 from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
-from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
+from opendbc.car.gm.fingerprints import FW_VERSIONS, FINGERPRINTS
+from opendbc.car.gm.values import Footnote, FW_QUERY_CONFIG, CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -20,10 +21,16 @@
 }
 
 
-class CarInterface(CarInterfaceBase):
+class GMInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
   RadarInterface = RadarInterface
+  CAR = CAR
+  BRAND = "gm"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
+  FINGERPRINTS = FINGERPRINTS
+  Footnote = Footnote
 
   DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low,
                     structs.CarState.GearShifter.eco, structs.CarState.GearShifter.manumatic)
@@ -86,7 +93,6 @@ def lateral_accel_from_torque_siglin(torque: float, torque_params: structs.CarPa
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
-    ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]

opendbc/car/honda/interface.py

@@ -4,7 +4,8 @@
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.honda.hondacan import CanBus
-from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HondaSafetyFlags
+from opendbc.car.honda.fingerprints import FW_VERSIONS
+from opendbc.car.honda.values import Footnote, FW_QUERY_CONFIG, CarControllerParams, HondaFlags, CAR, HondaSafetyFlags
 from opendbc.car.honda.carcontroller import CarController
 from opendbc.car.honda.carstate import CarState
 from opendbc.car.honda.radar_interface import RadarInterface
@@ -13,10 +14,15 @@
 TransmissionType = structs.CarParams.TransmissionType
 
 
-class CarInterface(CarInterfaceBase):
+class HondaInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
   RadarInterface = RadarInterface
+  CAR = CAR
+  BRAND = "honda"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
+  Footnote = Footnote
 
   DRIVABLE_GEARS = (structs.CarState.GearShifter.sport,)
 
@@ -33,7 +39,6 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
-    ret.brand = "honda"
 
     CAN = CanBus(ret, fingerprint)
 
@@ -252,4 +257,4 @@ def init(CP, can_recv, can_send, communication_control=None):
   def deinit(CP, can_recv, can_send):
     communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
                                    uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
-    CarInterface.init(CP, can_recv, can_send, communication_control)
+    HondaInterface.init(CP, can_recv, can_send, communication_control)

opendbc/car/hyundai/interface.py

@@ -1,6 +1,7 @@
 from opendbc.car import Bus, get_safety_config, structs, uds
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, HyundaiSafetyFlags
+from opendbc.car.hyundai.fingerprints import FW_VERSIONS
+from opendbc.car.hyundai.values import FW_QUERY_CONFIG, HyundaiFlags, CAR, DBC, HyundaiSafetyFlags
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.disable_ecu import disable_ecu
@@ -15,16 +16,19 @@
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
 
 
-class CarInterface(CarInterfaceBase):
+class HyundaiInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
   RadarInterface = RadarInterface
+  CAR = CAR
+  BRAND = "hyundai"
+  FW_QUERY_CONFIG = FW_QUERY_CONFIG
+  FW_VERSIONS = FW_VERSIONS
 
   DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.manumatic)
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
-    ret.brand = "hyundai"
 
     if ret.flags & HyundaiFlags.CANFD:
       # Shared configuration for CAN-FD cars
@@ -171,4 +175,4 @@ def init(CP, can_recv, can_send, communication_control=None):
   @staticmethod
   def deinit(CP, can_recv, can_send):
     communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-    CarInterface.init(CP, can_recv, can_send, communication_control)
+    HyundaiInterface.init(CP, can_recv, can_send, communication_control)

opendbc/car/hyundai/tests/test_hyundai.py

@@ -3,7 +3,7 @@
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
-from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.interface import HyundaiInterface
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import CAR, DATE_FW_ECUS, FW_QUERY_CONFIG, CANFD_FUZZY_WHITELIST, \
@@ -58,22 +58,22 @@ def test_feature_detection(self):
       if lka_steering:
         cam_can = CanBus(None, fingerprint).CAM
         fingerprint[cam_can] = [0x50, 0x110]  # LKA steering messages
-      CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
+      CP = HyundaiInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
       assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG) == lka_steering
 
     # radar available
     for radar in (True, False):
       fingerprint = gen_empty_fingerprint()
       if radar:
         fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
+      CP = HyundaiInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
       assert CP.radarUnavailable != radar
 
   def test_alternate_limits(self):
     # Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
     fingerprint = gen_empty_fingerprint()
     for car_model in CAR:
-      CP = CarInterface.get_params(car_model, fingerprint, [], False, False, False)
+      CP = HyundaiInterface.get_params(car_model, fingerprint, [], False, False, False)
       assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.ALT_LIMITS)
 
   def test_can_features(self):