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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/toyota/interface.py
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@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@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 = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@@ -289,11 +289,11 @@ class CarInterface(CarInterfaceBase):
disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
# events
events = self.create_common_events(ret)
events = self.create_common_events(ret, frogpilot_variables)
# Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
# the more accurate angle sensor signal is initialized
@@ -320,5 +320,5 @@ class CarInterface(CarInterfaceBase):
# pass in a car.CarControl
# to be called @ 100hz
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)