63 lines
2.1 KiB
Python
63 lines
2.1 KiB
Python
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from opendbc.can.parser import CANParser
|
|
from selfdrive.car.ocelot.values import DBC
|
|
from selfdrive.car.interfaces import RadarInterfaceBase
|
|
|
|
RADAR_MSGS = list(range(0x120, 0x160))
|
|
|
|
def _create_radar_can_parser(car_fingerprint):
|
|
msg_n = len(RADAR_MSGS)
|
|
signals = list(zip(['CAN_DET_RANGE'] * msg_n + ['CAN_DET_AZIMUTH'] * msg_n + ['CAN_DET_RANGE_RATE'] * msg_n + ['CAN_DET_VALID_LEVEL'] * msg_n,
|
|
RADAR_MSGS * 4,
|
|
[0] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n))
|
|
checks = list(zip(RADAR_MSGS, [20]*msg_n))
|
|
|
|
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 2)
|
|
|
|
class RadarInterface(RadarInterfaceBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
self.validCnt = {key: 0 for key in RADAR_MSGS}
|
|
self.track_id = 0
|
|
|
|
self.rcp = _create_radar_can_parser(CP.carFingerprint)
|
|
self.trigger_msg = 0x15F
|
|
self.updated_messages = set()
|
|
|
|
def update(self, can_strings):
|
|
vls = self.rcp.update_strings(can_strings)
|
|
self.updated_messages.update(vls)
|
|
|
|
if self.trigger_msg not in self.updated_messages:
|
|
return None
|
|
|
|
ret = car.RadarData.new_message()
|
|
errors = []
|
|
if not self.rcp.can_valid:
|
|
errors.append("canError")
|
|
ret.errors = errors
|
|
|
|
for ii in sorted(self.updated_messages):
|
|
cpt = self.rcp.vl[ii]
|
|
|
|
# radar point only valid if valid signal asserted
|
|
if cpt['CAN_DET_VALID_LEVEL'] > 0:
|
|
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['CAN_DET_RANGE'] # from front of car
|
|
self.pts[ii].yRel = cpt['CAN_DET_RANGE'] * cpt['CAN_DET_AZIMUTH'] # in car frame's y axis, left is positive
|
|
self.pts[ii].vRel = cpt['CAN_DET_RANGE_RATE']
|
|
self.pts[ii].aRel = float('nan')
|
|
self.pts[ii].yvRel = float('nan')
|
|
self.pts[ii].measured = True
|
|
else:
|
|
if ii in self.pts:
|
|
del self.pts[ii]
|
|
|
|
ret.points = list(self.pts.values())
|
|
self.updated_messages.clear()
|
|
return ret
|