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https://github.com/dragonpilot/dragonpilot.git
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b0eb3ba4f4
* with brand name * migrate * Fix * fixes * more * passes * fix * fix the doc * collects * these too * more stuff * body exception :/ * more * hardcode i guess * update ref * toyota * more toyota * and here * final! * fix notebooks and ccs * move this here
45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.nissan.values import CAR
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ButtonType = car.CarState.ButtonEvent.Type
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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.carName = "nissan"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
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ret.autoResumeSng = False
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ret.steerLimitTimer = 1.0
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ret.steerActuatorDelay = 0.1
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ret.steerControlType = car.CarParams.SteerControlType.angle
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ret.radarUnavailable = True
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if candidate == CAR.NISSAN_ALTIMA:
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# Altima has EPS on C-CAN unlike the others that have it on V-CAN
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
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ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
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events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
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if self.CS.lkas_enabled:
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events.add(car.CarEvent.EventName.invalidLkasSetting)
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ret.events = events.to_msg()
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return ret
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