Release 260111

opendbc_repo/opendbc/car/body/interface.py

@@ -0,0 +1,30 @@
+import math
+from opendbc.car import get_safety_config, structs
+from opendbc.car.body.carcontroller import CarController
+from opendbc.car.body.carstate import CarState
+from opendbc.car.body.values import SPEED_FROM_RPM
+from opendbc.car.interfaces import CarInterfaceBase
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.notCar = True
+    ret.brand = "body"
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
+
+    ret.minSteerSpeed = -math.inf
+    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
+    ret.steerLimitTimer = 1.0
+    ret.steerActuatorDelay = 0.
+
+    ret.wheelSpeedFactor = SPEED_FROM_RPM
+
+    ret.radarUnavailable = True
+    ret.openpilotLongitudinalControl = True
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+
+    return ret