openpilot v0.9.6 release

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

selfdrive/car/nissan/interface.py

@@ -0,0 +1,60 @@
+from cereal import car
+from panda import Panda
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.nissan.values import CAR
+
+
+class CarInterface(CarInterfaceBase):
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "nissan"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
+
+    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:
+      # 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
+
+  # returns a car.CarState
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+
+    buttonEvents = []
+    be = car.CarState.ButtonEvent.new_message()
+    be.type = car.CarState.ButtonEvent.Type.accelCruise
+    buttonEvents.append(be)
+
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
+
+    if self.CS.lkas_enabled:
+      events.add(car.CarEvent.EventName.invalidLkasSetting)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)