mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-19 23:34:14 +08:00
Shane Smiskol
e8c4fb0177
* Reapply "selfdrive/car: ban imports from external modules" (#32993) This reverts commit 626d78ec548fe19acfdf3c2c3e063fac3b257dc6. * controls will just use controls * also these * ignore old-commit-hash: d684d8f0f6900d80a2a1618099b0b8e19e6492a2
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
import math
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from cereal import car
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from openpilot.selfdrive.car import DT_CTRL, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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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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@staticmethod
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def _get_params(ret, 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(car.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 = car.CarParams.SteerControlType.angle
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp)
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# wait for everything to init first
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if self.frame > int(5. / DT_CTRL):
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# body always wants to enable
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ret.init('events', 1)
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ret.events[0].name = car.CarEvent.EventName.pcmEnable
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ret.events[0].enable = True
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self.frame += 1
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return ret
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