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