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63 lines
1.8 KiB
63 lines
1.8 KiB
#!/usr/bin/env python3
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from cereal import car
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from system.swaglog import cloudlog
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import cereal.messaging as messaging
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from selfdrive.car import get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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# mocked car interface to work with chffrplus
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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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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
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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.tireStiffnessFront = 1e6 # very stiff to neglect slip
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ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
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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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return ret
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def apply(self, c):
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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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