88 lines
3.2 KiB
Python
88 lines
3.2 KiB
Python
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.car.nissan.values import CAR
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.cp_adas = self.CS.get_adas_can_parser(CP)
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "nissan"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
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ret.steerLimitTimer = 1.0
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ret.steerRateCost = 0.5
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ret.steerActuatorDelay = 0.1
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if candidate in (CAR.ROGUE, CAR.XTRAIL):
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ret.mass = 1610 + STD_CARGO_KG
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 17
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elif candidate in (CAR.LEAF, CAR.LEAF_IC):
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ret.mass = 1610 + STD_CARGO_KG
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 17
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elif candidate == CAR.ALTIMA:
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# Altima has EPS on C-CAN unlike the others that have it on V-CAN
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ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
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ret.mass = 1492 + STD_CARGO_KG
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ret.wheelbase = 2.824
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 17
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarOffCan = True
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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self.cp_adas.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
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buttonEvents = []
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be = car.CarState.ButtonEvent.new_message()
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be.type = car.CarState.ButtonEvent.Type.accelCruise
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buttonEvents.append(be)
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events = self.create_common_events(ret)
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if self.CS.lkas_enabled:
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events.add(car.CarEvent.EventName.invalidLkasSetting)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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hud_control = c.hudControl
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ret = self.CC.update(c, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel, hud_control.visualAlert,
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hud_control.leftLaneVisible, hud_control.rightLaneVisible,
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hud_control.leftLaneDepart, hud_control.rightLaneDepart)
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self.frame += 1
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return ret
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