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interface.py
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interface.py
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#!/usr/bin/env python3
from cereal import car
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from 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 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610 + STD_CARGO_KG
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 = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG
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)