71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from opendbc.can.parser import CANParser
|
|
from selfdrive.car.interfaces import RadarInterfaceBase
|
|
from selfdrive.car.hyundai.values import DBC
|
|
|
|
|
|
def get_radar_can_parser(CP):
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
("ACC_ObjStatus", "SCC11", 0),
|
|
("ACC_ObjLatPos", "SCC11", 0),
|
|
("ACC_ObjDist", "SCC11", 0),
|
|
("ACC_ObjRelSpd", "SCC11", 0),
|
|
]
|
|
checks = [
|
|
# address, frequency
|
|
("SCC11", 50),
|
|
]
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
|
|
|
|
|
class RadarInterface(RadarInterfaceBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
self.rcp = get_radar_can_parser(CP)
|
|
self.updated_messages = set()
|
|
self.trigger_msg = 0x420
|
|
self.track_id = 0
|
|
self.radar_off_can = CP.radarOffCan
|
|
|
|
def update(self, can_strings):
|
|
if self.radar_off_can:
|
|
return super().update(None)
|
|
|
|
vls = self.rcp.update_strings(can_strings)
|
|
self.updated_messages.update(vls)
|
|
|
|
if self.trigger_msg not in self.updated_messages:
|
|
return None
|
|
|
|
rr = self._update(self.updated_messages)
|
|
self.updated_messages.clear()
|
|
|
|
return rr
|
|
|
|
def _update(self, updated_messages):
|
|
ret = car.RadarData.new_message()
|
|
cpt = self.rcp.vl
|
|
errors = []
|
|
if not self.rcp.can_valid:
|
|
errors.append("canError")
|
|
ret.errors = errors
|
|
|
|
valid = cpt["SCC11"]['ACC_ObjStatus']
|
|
if valid:
|
|
for ii in range(2):
|
|
if ii not in self.pts:
|
|
self.pts[ii] = car.RadarData.RadarPoint.new_message()
|
|
self.pts[ii].trackId = self.track_id
|
|
self.track_id += 1
|
|
self.pts[ii].dRel = cpt["SCC11"]['ACC_ObjDist'] # from front of car
|
|
self.pts[ii].yRel = -cpt["SCC11"]['ACC_ObjLatPos'] # in car frame's y axis, left is negative
|
|
self.pts[ii].vRel = cpt["SCC11"]['ACC_ObjRelSpd']
|
|
self.pts[ii].aRel = float('nan')
|
|
self.pts[ii].yvRel = float('nan')
|
|
self.pts[ii].measured = True
|
|
|
|
ret.points = list(self.pts.values())
|
|
return ret
|