You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
60 lines
1.8 KiB
60 lines
1.8 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
from selfdrive.car.nissan.values import CAR
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "nissan"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
|
|
ret.autoResumeSng = False
|
|
|
|
ret.steerLimitTimer = 1.0
|
|
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.steerRatio = 17
|
|
|
|
ret.steerControlType = car.CarParams.SteerControlType.angle
|
|
ret.radarUnavailable = True
|
|
|
|
if candidate in (CAR.ROGUE, CAR.XTRAIL):
|
|
ret.mass = 1610 + STD_CARGO_KG
|
|
ret.wheelbase = 2.705
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
|
|
ret.mass = 1610 + STD_CARGO_KG
|
|
ret.wheelbase = 2.705
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
elif candidate == CAR.ALTIMA:
|
|
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
|
|
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
|
|
ret.mass = 1492 + STD_CARGO_KG
|
|
ret.wheelbase = 2.824
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
|
|
|
|
buttonEvents = []
|
|
be = car.CarState.ButtonEvent.new_message()
|
|
be.type = car.CarState.ButtonEvent.Type.accelCruise
|
|
buttonEvents.append(be)
|
|
|
|
events = self.create_common_events(ret)
|
|
|
|
if self.CS.lkas_enabled:
|
|
events.add(car.CarEvent.EventName.invalidLkasSetting)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|
|
|