IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/car/nissan/interface.py

@@ -0,0 +1,40 @@
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.car.nissan.carcontroller import CarController
+from iqdbc.car.nissan.carstate import CarState
+from iqdbc.car.nissan.values import CAR, NissanSafetyFlags
+from iqdbc.lvbs.car.nissan.values import NissanSafetyFlagsIQ
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  DRIVABLE_GEARS = (structs.CarState.GearShifter.brake,)
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "nissan"
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
+    ret.steerAtStandstill = True
+
+    ret.steerLimitTimer = 1.0
+
+    ret.steerActuatorDelay = 0.1
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.radarUnavailable = True
+
+    if candidate == CAR.NISSAN_ALTIMA:
+      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
+      ret.safetyConfigs[0].safetyParam |= NissanSafetyFlags.ALT_EPS_BUS.value
+
+    return ret
+
+  @staticmethod
+  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
+                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
+    if candidate in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      ret.iqSafetyFlags |= NissanSafetyFlagsIQ.LEAF
+
+    return ret