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60 lines
1.8 KiB
60 lines
1.8 KiB
#!/usr/bin/env python3
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from cereal import car
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.nissan.values import CAR
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "nissan"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
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ret.autoResumeSng = False
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.1
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ret.steerRatio = 17
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarUnavailable = True
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if candidate in (CAR.ROGUE, CAR.XTRAIL):
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ret.mass = 1610
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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elif candidate in (CAR.LEAF, CAR.LEAF_IC):
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ret.mass = 1610
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ret.wheelbase = 2.705
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ret.centerToFront = ret.wheelbase * 0.44
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elif candidate == CAR.ALTIMA:
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# Altima has EPS on C-CAN unlike the others that have it on V-CAN
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ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
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ret.mass = 1492
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ret.wheelbase = 2.824
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ret.centerToFront = ret.wheelbase * 0.44
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
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buttonEvents = []
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be = car.CarState.ButtonEvent.new_message()
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be.type = car.CarState.ButtonEvent.Type.accelCruise
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buttonEvents.append(be)
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events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
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if self.CS.lkas_enabled:
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events.add(car.CarEvent.EventName.invalidLkasSetting)
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ret.events = events.to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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