mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
56 lines
2.1 KiB
Python
56 lines
2.1 KiB
Python
from opendbc.car import get_safety_config, structs
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.tesla.carcontroller import CarController
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from opendbc.car.tesla.carstate import CarState
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from opendbc.car.tesla.radar_interface import RadarInterface
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from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
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from opendbc.car.tesla.preap.interface import get_preap_accel_limits, get_preap_params
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
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return get_preap_accel_limits(current_speed)
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return CarInterfaceBase.get_pid_accel_limits(CP, current_speed, cruise_speed)
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@classmethod
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def get_params(cls, candidate, fingerprint, car_fw, alpha_long, is_release, docs, starpilot_toggles):
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ret = super().get_params(candidate, fingerprint, car_fw, alpha_long, is_release, docs, starpilot_toggles)
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if candidate == CAR.TESLA_MODEL_3 and getattr(starpilot_toggles, "tesla_cooperative_steering", False):
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ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.COOP_STEERING.value
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return ret
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "tesla"
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if candidate == CAR.TESLA_MODEL_S_PREAP:
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return get_preap_params(ret)
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
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ret.steerLimitTimer = 0.4
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ret.steerActuatorDelay = 0.1
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ret.steerAtStandstill = True
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ret.steerControlType = structs.CarParams.SteerControlType.angle
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ret.radarUnavailable = True
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ret.alphaLongitudinalAvailable = True
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if alpha_long:
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
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ret.vEgoStopping = 0.1
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ret.vEgoStarting = 0.1
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ret.stoppingDecelRate = 0.3
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ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X) # dashcam only, pending find invalidLkasSetting signal
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return ret
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