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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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33
selfdrive/car/nissan/interface.py
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@@ -1,14 +1,17 @@
from cereal import car
from cereal import car, custom
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False
@@ -16,25 +19,13 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarUnavailable = True
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA:
if candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
ret.mass = 1492
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
return ret
@@ -42,12 +33,12 @@ class CarInterface(CarInterfaceBase):
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)
ret.buttonEvents = [
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[car.CarState.GearShifter.brake])
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
if self.CS.lkas_enabled:
events.add(car.CarEvent.EventName.invalidLkasSetting)