openpilot_comma/selfdrive/car/nissan/interface.py

from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR

ButtonType = structs.CarState.ButtonEvent.Type


class CarInterface(CarInterfaceBase):

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "nissan"
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
    ret.autoResumeSng = False

    ret.steerLimitTimer = 1.0

    ret.steerActuatorDelay = 0.1

    ret.steerControlType = structs.CarParams.SteerControlType.angle
    ret.radarUnavailable = True

    if candidate == CAR.NISSAN_ALTIMA:
      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS

    return ret

  # returns a car.CarState
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)

    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

    events = self.create_common_events(ret, extra_gears=[structs.CarState.GearShifter.brake])

    if self.CS.lkas_enabled:
      events.add(car.CarEvent.EventName.invalidLkasSetting)

    ret.events = events.to_msg()

    return ret