92 lines
2.4 KiB
Python
92 lines
2.4 KiB
Python
#!/usr/bin/env python3
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import math
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from cereal import car
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from opendbc.can.parser import CANParser
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from selfdrive.car.interfaces import RadarInterfaceBase
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from selfdrive.car.hyundai.values import DBC
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RADAR_START_ADDR = 0x500
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RADAR_MSG_COUNT = 32
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def get_radar_can_parser(CP):
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if DBC[CP.carFingerprint]['radar'] is None:
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return None
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signals = []
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checks = []
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for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
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msg = f"RADAR_TRACK_{addr:x}"
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signals += [
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("STATE", msg),
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("AZIMUTH", msg),
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("LONG_DIST", msg),
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("REL_ACCEL", msg),
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("REL_SPEED", msg),
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]
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checks += [(msg, 50)]
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return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
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class RadarInterface(RadarInterfaceBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.updated_messages = set()
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self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
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self.track_id = 0
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self.radar_off_can = CP.radarOffCan
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self.rcp = get_radar_can_parser(CP)
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def update(self, can_strings):
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if self.radar_off_can or (self.rcp is None):
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return super().update(None)
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vls = self.rcp.update_strings(can_strings)
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self.updated_messages.update(vls)
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if self.trigger_msg not in self.updated_messages:
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return None
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rr = self._update(self.updated_messages)
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self.updated_messages.clear()
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return rr
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def _update(self, updated_messages):
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ret = car.RadarData.new_message()
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if self.rcp is None:
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return ret
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errors = []
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if not self.rcp.can_valid:
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errors.append("canError")
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ret.errors = errors
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for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
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msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
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if addr not in self.pts:
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self.pts[addr] = car.RadarData.RadarPoint.new_message()
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self.pts[addr].trackId = self.track_id
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self.track_id += 1
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valid = msg['STATE'] in (3, 4)
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if valid:
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azimuth = math.radians(msg['AZIMUTH'])
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self.pts[addr].measured = True
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self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
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self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
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self.pts[addr].vRel = msg['REL_SPEED']
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self.pts[addr].aRel = msg['REL_ACCEL']
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self.pts[addr].yvRel = float('nan')
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else:
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del self.pts[addr]
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ret.points = list(self.pts.values())
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return ret
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