clearpilot: initial commit of full source

selfdrive/car/nissan/interface.py

@@ -0,0 +1,51 @@
+from cereal import car, custom
+from panda import Panda
+from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.nissan.values import CAR
+
+ButtonType = car.CarState.ButtonEvent.Type
+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 = "nissan"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
+
+    ret.steerLimitTimer = 1.0
+
+    ret.steerActuatorDelay = 0.1
+
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarUnavailable = True
+
+    if 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
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_variables)
+
+    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 = 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, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)