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Car interface: set common params after port (#26613)

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* remove pylint exception, _get_params takes no defaults

* clean up

* mock uses it too

* unused

* unused

* fix that

* bump

* Update selfdrive/car/interfaces.py
old-commit-hash: 860f441e2f
taco
Shane Smiskol 3 years ago committed by GitHub
parent 4887149d38
commit 8aadc8dda6
14 changed files with 50 additions and 100 deletions
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  1. 9
      selfdrive/car/body/interface.py
  2. 10
      selfdrive/car/chrysler/interface.py
  3. 14
      selfdrive/car/ford/interface.py
  4. 9
      selfdrive/car/gm/interface.py
  5. 9
      selfdrive/car/honda/interface.py
  6. 10
      selfdrive/car/hyundai/interface.py
  7. 26
      selfdrive/car/interfaces.py
  8. 10
      selfdrive/car/mazda/interface.py
  9. 6
      selfdrive/car/mock/interface.py
  10. 10
      selfdrive/car/nissan/interface.py
  11. 10
      selfdrive/car/subaru/interface.py
  12. 6
      selfdrive/car/tesla/interface.py
  13. 10
      selfdrive/car/toyota/interface.py
  14. 11
      selfdrive/car/volkswagen/interface.py

9
selfdrive/car/body/interface.py
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@ -2,16 +2,13 @@
import math
from cereal import car
from common.realtime import DT_CTRL
from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
from selfdrive.car import scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@ -31,8 +28,6 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret

10
selfdrive/car/chrysler/interface.py
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@ -1,21 +1,18 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
ret.radarOffCan = DBC[candidate]['radar'] is None
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
@ -76,9 +73,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.44
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

14
selfdrive/car/ford/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
from selfdrive.car.interfaces import CarInterfaceBase
@ -10,12 +10,7 @@ CarParams = car.CarParams
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
if car_fw is None:
car_fw = []
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "ford"
ret.dashcamOnly = True
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
@ -24,7 +19,6 @@ class CarInterface(CarInterfaceBase):
ret.steerControlType = CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.4
ret.steerLimitTimer = 1.0
tire_stiffness_factor = 1.0
if candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
@ -60,10 +54,8 @@ class CarInterface(CarInterfaceBase):
ret.minSteerSpeed = 0.
ret.autoResumeSng = ret.minEnableSpeed == -1.
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.44
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def _update(self, c):

9
selfdrive/car/gm/interface.py
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@ -4,7 +4,7 @@ from math import fabs
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
from selfdrive.car.interfaces import CarInterfaceBase
@ -44,8 +44,7 @@ class CarInterface(CarInterfaceBase):
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
@ -195,10 +194,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

9
selfdrive/car/honda/interface.py
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@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "honda"
if candidate in HONDA_BOSCH:
@ -291,10 +290,6 @@ class CarInterface(CarInterfaceBase):
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

10
selfdrive/car/hyundai/interface.py
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@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -18,9 +18,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "hyundai"
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
@ -267,10 +265,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

26
selfdrive/car/interfaces.py
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@ -10,7 +10,7 @@ from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.numpy_fast import interp
from common.realtime import DT_CTRL
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -87,10 +87,28 @@ class CarInterfaceBase(ABC):
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX
@classmethod
def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
if fingerprint is None:
fingerprint = gen_empty_fingerprint()
if car_fw is None:
car_fw = list()
ret = CarInterfaceBase.get_std_params(candidate)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
# Set common params using fields set by the car interface
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
return ret
@staticmethod
@abstractmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
pass
def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
raise NotImplementedError
@staticmethod
def init(CP, logcan, sendcan):
@ -121,7 +139,7 @@ class CarInterfaceBase(ABC):
# returns a set of default params to avoid repetition in car specific params
@staticmethod
def get_std_params(candidate, fingerprint):
def get_std_params(candidate):
ret = car.CarParams.new_message()
ret.carFingerprint = candidate

10
selfdrive/car/mazda/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@ -11,9 +11,7 @@ EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarOffCan = True
@ -48,10 +46,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

6
selfdrive/car/mock/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from system.swaglog import cloudlog
import cereal.messaging as messaging
from selfdrive.car import gen_empty_fingerprint, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -19,12 +19,10 @@ class CarInterface(CarInterfaceBase):
self.prev_speed = 0.
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
ret.mass = 1700.
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable

10
selfdrive/car/nissan/interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.nissan.values import CAR
@ -8,9 +8,7 @@ from selfdrive.car.nissan.values import CAR
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False
@ -38,10 +36,6 @@ class CarInterface(CarInterfaceBase):
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

10
selfdrive/car/subaru/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
@ -9,9 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "subaru"
ret.radarOffCan = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
@ -103,10 +101,6 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"unknown car: {candidate}")
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

6
selfdrive/car/tesla/interface.py
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@ -2,14 +2,13 @@
from cereal import car
from panda import Panda
from selfdrive.car.tesla.values import CANBUS, CAR
from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "tesla"
# There is no safe way to do steer blending with user torque,
@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
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

10
selfdrive/car/toyota/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
EventName = car.CarEvent.EventName
@ -15,9 +15,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@ -190,10 +188,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

11
selfdrive/car/volkswagen/interface.py
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@ -1,8 +1,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
gen_empty_fingerprint, get_safety_config
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
@ -22,8 +21,7 @@ class CarInterface(CarInterfaceBase):
self.cp_ext = self.cp_cam
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "volkswagen"
ret.radarOffCan = True
@ -74,7 +72,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
@ -213,10 +210,8 @@ class CarInterface(CarInterfaceBase):
raise ValueError(f"unsupported car {candidate}")
ret.autoResumeSng = ret.minEnableSpeed == -1
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
# returns a car.CarState

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