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37 lines
1.2 KiB
37 lines
1.2 KiB
2 months ago
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from opendbc.car import get_safety_config, structs
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.rivian.carcontroller import CarController
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from opendbc.car.rivian.carstate import CarState
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from opendbc.car.rivian.radar_interface import RadarInterface
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
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ret.brand = "rivian"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]
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ret.steerActuatorDelay = 0.25
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ret.steerLimitTimer = 0.4
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.steerControlType = structs.CarParams.SteerControlType.torque
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ret.radarUnavailable = True
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# TODO: pending finding/handling missing set speed and fixing up radar parser
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ret.experimentalLongitudinalAvailable = False
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if experimental_long:
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ret.openpilotLongitudinalControl = True
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#ret.safetyConfigs[0].safetyParam |= Panda.FLAG_RIVIAN_LONG_CONTROL
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ret.longitudinalActuatorDelay = 0.35
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ret.vEgoStopping = 0.25
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ret.stopAccel = 0
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return ret
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