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- import math
- from cereal import car
- from openpilot.common.realtime import DT_CTRL
- from openpilot.selfdrive.car import get_safety_config
- from openpilot.selfdrive.car.interfaces import CarInterfaceBase
- from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
- class CarInterface(CarInterfaceBase):
- @staticmethod
- def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
- ret.notCar = True
- ret.carName = "body"
- ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
- ret.minSteerSpeed = -math.inf
- ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
- ret.steerLimitTimer = 1.0
- ret.steerActuatorDelay = 0.
- ret.wheelSpeedFactor = SPEED_FROM_RPM
- ret.radarUnavailable = True
- ret.openpilotLongitudinalControl = True
- ret.steerControlType = car.CarParams.SteerControlType.angle
- return ret
- def _update(self, c):
- ret = self.CS.update(self.cp)
- # wait for everything to init first
- if self.frame > int(5. / DT_CTRL):
- # body always wants to enable
- ret.init('events', 1)
- ret.events[0].name = car.CarEvent.EventName.pcmEnable
- ret.events[0].enable = True
- self.frame += 1
- return ret
- def apply(self, c, now_nanos):
- return self.CC.update(c, self.CS, now_nanos)
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