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93 lines
3.3 KiB
93 lines
3.3 KiB
5 years ago
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#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.car.nissan.values import CAR
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.cp_adas = self.CS.get_adas_can_parser(CP)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.dashcamOnly = True
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ret.carName = "nissan"
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ret.safetyModel = car.CarParams.SafetyModel.nissan
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ret.steerLimitAlert = False
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ret.enableCamera = True
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ret.steerRateCost = 0.5
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if candidate in [CAR.XTRAIL]:
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ret.mass = 1610 + STD_CARGO_KG
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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ret.steerRatio = 17
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]]
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarOffCan = True
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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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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self.cp_cam.update_strings(can_strings)
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self.cp_adas.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
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ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
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buttonEvents = []
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be = car.CarState.ButtonEvent.new_message()
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be.type = car.CarState.ButtonEvent.Type.accelCruise
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buttonEvents.append(be)
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events = self.create_common_events(ret)
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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if not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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ret.events = events
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# update previous brake/gas pressed
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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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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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel,)
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self.frame += 1
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return can_sends
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