dragonpilot beta3

date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1

selfdrive/car/interfaces.py

@@ -1,6 +1,5 @@
 import yaml
 import os
-import time
 from abc import abstractmethod, ABC
 from typing import Any, Dict, Optional, Tuple, List, Callable
 
@@ -100,16 +99,9 @@ class CarInterfaceBase(ABC):
     ret = CarInterfaceBase.get_std_params(candidate)
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
-    # Set common params using fields set by the car interface
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
+    # Set params dependent on values set by the car interface
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: some car interfaces set stiffness factor
-    if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
-      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-      # mass and CG position, so all cars will have approximately similar dyn behaviors
-      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
     return ret
 
@@ -152,6 +144,7 @@ class CarInterfaceBase(ABC):
     ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
 
     # standard ALC params
+    ret.tireStiffnessFactor = 1.0
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
@@ -312,14 +305,9 @@ class RadarInterfaceBase(ABC):
     self.rcp = None
     self.pts = {}
     self.delay = 0
-    self.radar_ts = CP.radarTimeStep
-    self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    if not self.no_radar_sleep:
-      time.sleep(self.radar_ts)  # radard runs on RI updates
-    return ret
+    pass
 
 
 class CarStateBase(ABC):