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47 lines
1.4 KiB
47 lines
1.4 KiB
#!/usr/bin/env python3
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import math
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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from selfdrive.car.body.values import SPEED_FROM_RPM
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
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ret.notCar = True
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ret.carName = "body"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
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ret.minSteerSpeed = -math.inf
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ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
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ret.steerRatio = 0.5
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ret.steerLimitTimer = 1.0
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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 = SPEED_FROM_RPM
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ret.centerToFront = ret.wheelbase * 0.44
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ret.radarUnavailable = True
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ret.openpilotLongitudinalControl = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp)
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# wait for everything to init first
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if self.frame > int(5. / DT_CTRL):
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# body always wants to enable
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ret.init('events', 1)
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ret.events[0].name = car.CarEvent.EventName.pcmEnable
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ret.events[0].enable = True
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self.frame += 1
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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