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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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2
selfdrive/car/nissan/carcontroller.py
View File

@@ -18,7 +18,7 @@ class CarController:
self.packer = CANPacker(dbc_name)
def update(self, CC, CS, now_nanos):
def update(self, CC, CS, now_nanos, frogpilot_variables):
actuators = CC.actuators
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel

2
selfdrive/car/nissan/carstate.py
View File

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
def update(self, cp, cp_adas, cp_cam):
def update(self, cp, cp_adas, cp_cam, frogpilot_variables):
ret = car.CarState.new_message()
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):

12
selfdrive/car/nissan/interface.py
View File

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.nissan.values import CAR
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False
@@ -39,15 +39,15 @@ class CarInterface(CarInterfaceBase):
return ret
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_variables)
buttonEvents = []
be = car.CarState.ButtonEvent.new_message()
be.type = car.CarState.ButtonEvent.Type.accelCruise
buttonEvents.append(be)
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[car.CarState.GearShifter.brake])
if self.CS.lkas_enabled:
events.add(car.CarEvent.EventName.invalidLkasSetting)
@@ -56,5 +56,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
def apply(self, c, now_nanos, frogpilot_variables):
return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)