github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
58 lines
2.2 KiB
Python
58 lines
2.2 KiB
Python
from opendbc.car import get_safety_config, structs
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.rivian.carcontroller import CarController
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from opendbc.car.rivian.carstate import CarState
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from opendbc.car.rivian.radar_interface import RadarInterface
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from opendbc.car.rivian.values import RivianFlags, RivianSafetyFlags
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from opendbc.sunnypilot.car.rivian.values import RivianFlagsSP
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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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# GEN2 (2025+) doesn't have SCCM_WheelTouch on the bus
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if 0x321 not in fingerprint[0]:
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ret.flags |= RivianFlags.GEN2.value
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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.vEgoStopping = 0.25
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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_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_sp: bool, docs: bool) -> structs.CarParamsSP:
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if 0x131a in fingerprint[1]:
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ret.flags |= RivianFlagsSP.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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