openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/body/interface.py

@@ -0,0 +1,46 @@
+import math
+from cereal import car
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.notCar = True
+    ret.carName = "body"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
+
+    ret.minSteerSpeed = -math.inf
+    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
+    ret.steerRatio = 0.5
+    ret.steerLimitTimer = 1.0
+    ret.steerActuatorDelay = 0.
+
+    ret.mass = 9
+    ret.wheelbase = 0.406
+    ret.wheelSpeedFactor = SPEED_FROM_RPM
+    ret.centerToFront = ret.wheelbase * 0.44
+
+    ret.radarUnavailable = True
+    ret.openpilotLongitudinalControl = True
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+
+    return ret
+
+  def _update(self, c):
+    ret = self.CS.update(self.cp)
+
+    # wait for everything to init first
+    if self.frame > int(5. / DT_CTRL):
+      # body always wants to enable
+      ret.init('events', 1)
+      ret.events[0].name = car.CarEvent.EventName.pcmEnable
+      ret.events[0].enable = True
+    self.frame += 1
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)