mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-10-14 02:03:41 +08:00
Jason Wen
44 lines
1.2 KiB
Python
44 lines
1.2 KiB
Python
from cereal import car
|
|
from panda import Panda
|
|
from openpilot.selfdrive.car import get_safety_config
|
|
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
|
from openpilot.selfdrive.car.nissan.values import CAR
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
|
ret.carName = "nissan"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
|
|
ret.autoResumeSng = False
|
|
|
|
ret.steerLimitTimer = 1.0
|
|
|
|
ret.steerActuatorDelay = 0.1
|
|
|
|
ret.steerControlType = car.CarParams.SteerControlType.angle
|
|
ret.radarUnavailable = True
|
|
|
|
if candidate == CAR.ALTIMA:
|
|
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
|
|
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
|
|
|
|
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
|
|
|
|
if self.CS.lkas_enabled:
|
|
events.add(car.CarEvent.EventName.invalidLkasSetting)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|