#!/usr/bin/env python3
from cereal import car
from selfdrive . car . tesla . values import CAR
from selfdrive . car import STD_CARGO_KG , gen_empty_fingerprint , scale_rot_inertia , scale_tire_stiffness
from selfdrive . car . interfaces import CarInterfaceBase
class CarInterface ( CarInterfaceBase ) :
@staticmethod
def get_params ( candidate , fingerprint = gen_empty_fingerprint ( ) , car_fw = None ) :
ret = CarInterfaceBase . get_std_params ( candidate , fingerprint )
ret . carName = " tesla "
ret . safetyModel = car . CarParams . SafetyModel . tesla
# There is no safe way to do steer blending with user torque,
# so the steering behaves like autopilot. This is not
# how openpilot should be, hence dashcamOnly
ret . dashcamOnly = True
ret . steerControlType = car . CarParams . SteerControlType . angle
ret . openpilotLongitudinalControl = False
ret . steerActuatorDelay = 0.1
ret . steerRateCost = 0.5
if candidate in [ CAR . AP2_MODELS , CAR . AP1_MODELS ] :
ret . mass = 2100. + STD_CARGO_KG
ret . wheelbase = 2.959
ret . centerToFront = ret . wheelbase * 0.5
ret . steerRatio = 13.5
else :
raise ValueError ( f " Unsupported car: { candidate } " )
ret . rotationalInertia = scale_rot_inertia ( ret . mass , ret . wheelbase )
ret . tireStiffnessFront , ret . tireStiffnessRear = scale_tire_stiffness ( ret . mass , ret . wheelbase , ret . centerToFront )
return ret
def update ( self , c , can_strings ) :
self . cp . update_strings ( can_strings )
self . cp_cam . update_strings ( can_strings )
ret = self . CS . update ( self . cp , self . cp_cam )
ret . canValid = self . cp . can_valid and self . cp_cam . can_valid
events = self . create_common_events ( ret )
ret . events = events . to_msg ( )
self . CS . out = ret . as_reader ( )
return self . CS . out
def apply ( self , c ) :
can_sends = self . CC . update ( c . enabled , self . CS , self . frame , c . actuators , c . cruiseControl . cancel )
self . frame + = 1
return can_sends
