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.
63 lines
1.8 KiB
63 lines
1.8 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from system.swaglog import cloudlog
|
|
import cereal.messaging as messaging
|
|
from selfdrive.car import get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
|
|
# mocked car interface to work with chffrplus
|
|
class CarInterface(CarInterfaceBase):
|
|
def __init__(self, CP, CarController, CarState):
|
|
super().__init__(CP, CarController, CarState)
|
|
|
|
cloudlog.debug("Using Mock Car Interface")
|
|
|
|
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
|
|
|
|
self.speed = 0.
|
|
self.prev_speed = 0.
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
|
ret.carName = "mock"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
|
|
ret.mass = 1700.
|
|
ret.wheelbase = 2.70
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 13. # reasonable
|
|
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
|
|
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self, c):
|
|
self.sm.update(0)
|
|
gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
|
|
if self.sm.updated[gps_sock]:
|
|
self.prev_speed = self.speed
|
|
self.speed = self.sm[gps_sock].speed
|
|
|
|
# create message
|
|
ret = car.CarState.new_message()
|
|
|
|
# speeds
|
|
ret.vEgo = self.speed
|
|
ret.vEgoRaw = self.speed
|
|
|
|
ret.aEgo = self.speed - self.prev_speed
|
|
ret.brakePressed = ret.aEgo < -0.5
|
|
|
|
ret.standstill = self.speed < 0.01
|
|
ret.wheelSpeeds.fl = self.speed
|
|
ret.wheelSpeeds.fr = self.speed
|
|
ret.wheelSpeeds.rl = self.speed
|
|
ret.wheelSpeeds.rr = self.speed
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
# in mock no carcontrols
|
|
actuators = car.CarControl.Actuators.new_message()
|
|
return actuators, []
|
|
|