openpilot v0.9.6 release

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

selfdrive/car/mock/interface.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+from cereal import car
+import cereal.messaging as messaging
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+# mocked car interface for dashcam mode
+class CarInterface(CarInterfaceBase):
+  def __init__(self, CP, CarController, CarState):
+    super().__init__(CP, CarController, CarState)
+
+    self.speed = 0.
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "mock"
+    ret.mass = 1700.
+    ret.wheelbase = 2.70
+    ret.centerToFront = ret.wheelbase * 0.5
+    ret.steerRatio = 13.
+    return ret
+
+  def _update(self, c):
+    self.sm.update(0)
+    gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+
+    ret = car.CarState.new_message()
+    ret.vEgo = self.sm[gps_sock].speed
+    ret.vEgoRaw = self.sm[gps_sock].speed
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    actuators = car.CarControl.Actuators.new_message()
+    return actuators, []