carrot/opendbc_repo/opendbc/car/mazda/interface.py

#!/usr/bin/env python3
from opendbc.car import get_safety_config, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.mazda.values import CAR, LKAS_LIMITS
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.mazda.carcontroller import CarController
from opendbc.car.mazda.carstate import CarState
from opendbc.car.mazda.values import CAR, LKAS_LIMITS


class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, docs) -> structs.CarParams:
    ret.brand = "mazda"
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
    ret.radarUnavailable = True

    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)

    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.8

    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    if candidate not in (CAR.MAZDA_CX5_2022,):
      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

    ret.centerToFront = ret.wheelbase * 0.41

    return ret