57 lines
1.7 KiB
Python
57 lines
1.7 KiB
Python
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.car import 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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@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 = "body"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.allOutput)]
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ret.steerLimitTimer = 1.0
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ret.steerRateCost = 0.5
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ret.steerActuatorDelay = 0.
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ret.mass = 9
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ret.wheelbase = 0.406
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ret.wheelSpeedFactor = 0.008587
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 0.5
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarOffCan = False
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ret.openpilotLongitudinalControl = True
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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ret.minEnableSpeed = -1.
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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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ret = self.CS.update(self.cp)
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ret.canValid = self.cp.can_valid
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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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