Shane Smiskol
2 years ago
commit
025bb6d871
13 changed files with 27 additions and 44 deletions
@ -1 +1 @@ |
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Subproject commit cb0cd1bfaabc6673b4f21b6c8361778c7b3e0014 |
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Subproject commit e9a098761776896957fce61d632a221dcfb90ce6 |
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@ -1,61 +1,35 @@ |
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#!/usr/bin/env python3 |
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from cereal import car |
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from openpilot.system.swaglog import cloudlog |
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import cereal.messaging as messaging |
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from openpilot.selfdrive.car import get_safety_config |
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase |
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# mocked car interface to work with chffrplus |
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# mocked car interface for dashcam mode |
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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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cloudlog.debug("Using Mock Car Interface") |
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self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) |
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self.speed = 0. |
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self.prev_speed = 0. |
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self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) |
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@staticmethod |
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): |
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ret.carName = "mock" |
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] |
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ret.mass = 1700. |
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ret.wheelbase = 2.70 |
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ret.centerToFront = ret.wheelbase * 0.5 |
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ret.steerRatio = 13. # reasonable |
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ret.steerRatio = 13. |
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return ret |
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# returns a car.CarState |
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def _update(self, c): |
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self.sm.update(0) |
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gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' |
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if self.sm.updated[gps_sock]: |
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self.prev_speed = self.speed |
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self.speed = self.sm[gps_sock].speed |
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# create message |
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ret = car.CarState.new_message() |
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# speeds |
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ret.vEgo = self.speed |
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ret.vEgoRaw = self.speed |
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ret.aEgo = self.speed - self.prev_speed |
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ret.brakePressed = ret.aEgo < -0.5 |
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ret.standstill = self.speed < 0.01 |
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ret.wheelSpeeds.fl = self.speed |
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ret.wheelSpeeds.fr = self.speed |
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ret.wheelSpeeds.rl = self.speed |
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ret.wheelSpeeds.rr = self.speed |
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ret.vEgo = self.sm[gps_sock].speed |
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ret.vEgoRaw = self.sm[gps_sock].speed |
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return ret |
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def apply(self, c, now_nanos): |
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# in mock no carcontrols |
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actuators = car.CarControl.Actuators.new_message() |
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return actuators, [] |
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