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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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12
selfdrive/car/subaru/interface.py
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@@ -9,7 +9,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL
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 = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
@@ -136,11 +136,11 @@ class CarInterface(CarInterfaceBase):
return ret
# returns a car.CarState
def _update(self, c):
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
ret.events = self.create_common_events(ret).to_msg()
ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
return ret
@@ -149,5 +149,5 @@ class CarInterface(CarInterfaceBase):
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
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)