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83 lines
2.7 KiB
83 lines
2.7 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.conversions import Conversions as CV
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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.ford.values import TransmissionType, CAR
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from selfdrive.car.interfaces import CarInterfaceBase
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "ford"
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#ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
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ret.dashcamOnly = True
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# Angle-based steering
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# TODO: use curvature control when ready
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 1.0
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# TODO: detect stop-and-go vehicles
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stop_and_go = False
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if candidate == CAR.ESCAPE_MK4:
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ret.wheelbase = 2.71
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ret.steerRatio = 14.3 # Copied from Focus
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tire_stiffness_factor = 0.5328 # Copied from Focus
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ret.mass = 1750 + STD_CARGO_KG
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elif candidate == CAR.FOCUS_MK4:
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ret.wheelbase = 2.7
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.5328
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ret.mass = 1350 + STD_CARGO_KG
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else:
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raise ValueError(f"Unsupported car: ${candidate}")
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# Auto Transmission: Gear_Shift_by_Wire_FD1
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# TODO: detect transmission in car_fw?
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if 0x5A in fingerprint[0]:
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ret.transmissionType = TransmissionType.automatic
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else:
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ret.transmissionType = TransmissionType.manual
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# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
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# TODO: detect bsm in car_fw?
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ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1. if (stop_and_go) else 20. * CV.MPH_TO_MS
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# LCA can steer down to zero
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ret.minSteerSpeed = 0.
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ret.centerToFront = ret.wheelbase * 0.44
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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events = self.create_common_events(ret)
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ret.events = events.to_msg()
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return ret
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def apply(self, c):
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ret = self.CC.update(c, self.CS, self.frame)
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self.frame += 1
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return ret
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