clearpilot: initial commit of full source

selfdrive/car/mazda/interface.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+from cereal import car, custom
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
+
+class CarInterface(CarInterfaceBase):
+
+  @staticmethod
+  def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
+    ret.carName = "mazda"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
+    ret.radarUnavailable = True
+
+    ret.dashcamOnly = False
+
+    ret.steerActuatorDelay = 0.1
+    ret.steerLimitTimer = 0.8
+
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate not in (CAR.CX5_2022, ):
+      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+
+    ret.centerToFront = ret.wheelbase * 0.41
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
+
+     # TODO: add button types for inc and dec
+    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
+    events = self.create_common_events(ret)
+
+    if self.CS.lkas_disabled:
+      events.add(EventName.lkasDisabled)
+    elif self.CS.low_speed_alert:
+      events.add(EventName.belowSteerSpeed)
+
+    ret.events = events.to_msg()
+
+    return ret
+
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)