IQ.Pilot Prebuilt Release @ 7a91404

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

@@ -0,0 +1,54 @@
+from iqdbc.car import get_safety_config, structs
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.car.rivian.carcontroller import CarController
+from iqdbc.car.rivian.carstate import CarState
+from iqdbc.car.rivian.radar_interface import RadarInterface
+from iqdbc.car.rivian.values import RivianSafetyFlags
+from iqdbc.lvbs.car.rivian.values import RivianFlagsIQ
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+  RadarInterface = RadarInterface
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "rivian"
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.rivian)]
+
+    ret.steerActuatorDelay = 0.15
+    ret.steerLimitTimer = 0.4
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    ret.steerControlType = structs.CarParams.SteerControlType.torque
+    ret.radarUnavailable = True
+
+    # TODO: pending finding/handling missing set speed
+    ret.alphaLongitudinalAvailable = False
+    if alpha_long:
+      ret.openpilotLongitudinalControl = True
+      ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value
+
+    ret.longitudinalActuatorDelay = 0.35
+    ret.stopAccel = 0
+
+    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:
+    # Longitudinal harness upgrade advertises msg 0x31a on bus 5; when present it
+    # unlocks radar, blind-spot and openpilot longitudinal on Rivian.
+    if 0x31a in fingerprint[5]:
+      ret.flags |= RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE.value
+      stock_cp.radarUnavailable = False
+      stock_cp.enableBsm = True
+      stock_cp.alphaLongitudinalAvailable = True
+
+    if alpha_long and stock_cp.alphaLongitudinalAvailable:
+      stock_cp.openpilotLongitudinalControl = True
+      stock_cp.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value
+
+    return ret