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32 lines
1.0 KiB
32 lines
1.0 KiB
import math
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from openpilot.selfdrive.car import get_safety_config, structs
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.body.carstate import CarState
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from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
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class CarInterface(CarInterfaceBase):
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CS: CarState
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.notCar = True
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ret.carName = "body"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
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ret.minSteerSpeed = -math.inf
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ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.
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ret.wheelSpeedFactor = SPEED_FROM_RPM
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ret.radarUnavailable = True
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ret.openpilotLongitudinalControl = True
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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return ret
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def _update(self, c) -> structs.CarState:
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ret = self.CS.update(self.cp)
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return ret
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