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.
54 lines
1.6 KiB
54 lines
1.6 KiB
#!/usr/bin/env python3
|
|
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.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, disable_radar=False):
|
|
|
|
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
|
|
|
ret.notCar = True
|
|
ret.carName = "body"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
|
|
|
|
ret.minSteerSpeed = -math.inf
|
|
ret.steerRatio = 0.5
|
|
ret.steerRateCost = 0.5
|
|
ret.steerLimitTimer = 1.0
|
|
ret.steerActuatorDelay = 0.
|
|
|
|
ret.mass = 9
|
|
ret.wheelbase = 0.406
|
|
ret.wheelSpeedFactor = SPEED_FROM_RPM
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
|
|
ret.radarOffCan = True
|
|
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
|
|
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp)
|
|
|
|
# wait for everything to init first
|
|
if self.frame > int(5. / DT_CTRL):
|
|
# body always wants to enable
|
|
ret.init('events', 1)
|
|
ret.events[0].name = car.CarEvent.EventName.pcmEnable
|
|
ret.events[0].enable = True
|
|
self.frame += 1
|
|
|
|
return ret
|
|
|
|
def apply(self, c):
|
|
return self.CC.update(c, self.CS)
|
|
|