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44 lines
1.0 KiB
44 lines
1.0 KiB
import os
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import time
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from cereal import car
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from selfdrive.car import gen_empty_fingerprint
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# generic car and radar interfaces
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class CarInterfaceBase():
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def __init__(self, CP, CarController):
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pass
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.
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@staticmethod
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def compute_gb(accel, speed):
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raise NotImplementedError
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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raise NotImplementedError
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# returns a car.CarState, pass in car.CarControl
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def update(self, c, can_strings):
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raise NotImplementedError
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# return sendcan, pass in a car.CarControl
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def apply(self, c):
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raise NotImplementedError
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class RadarInterfaceBase():
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def __init__(self, CP):
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self.pts = {}
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self.delay = 0
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self.radar_ts = CP.radarTimeStep
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def update(self, can_strings):
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ret = car.RadarData.new_message()
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if 'NO_RADAR_SLEEP' not in os.environ:
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time.sleep(self.radar_ts) # radard runs on RI updates
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return ret
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