112 lines
3.0 KiB
Python
Executable File
112 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from opendbc.can.parser import CANParser
|
|
from selfdrive.car.tesla.values import DBC, CANBUS
|
|
from selfdrive.car.interfaces import RadarInterfaceBase
|
|
|
|
RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
|
|
RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
|
|
NUM_POINTS = len(RADAR_MSGS_A)
|
|
|
|
def get_radar_can_parser(CP):
|
|
# Status messages
|
|
signals = [
|
|
('RADC_HWFail', 'TeslaRadarSguInfo', 0),
|
|
('RADC_SGUFail', 'TeslaRadarSguInfo', 0),
|
|
('RADC_SensorDirty', 'TeslaRadarSguInfo', 0),
|
|
]
|
|
|
|
checks = [
|
|
('TeslaRadarSguInfo', 10),
|
|
]
|
|
|
|
# Radar tracks. There are also raw point clouds available,
|
|
# we don't use those.
|
|
for i in range(NUM_POINTS):
|
|
msg_id_a = RADAR_MSGS_A[i]
|
|
msg_id_b = RADAR_MSGS_B[i]
|
|
|
|
# There is a bunch more info in the messages,
|
|
# but these are the only things actually used in openpilot
|
|
signals.extend([
|
|
('LongDist', msg_id_a, 255),
|
|
('LongSpeed', msg_id_a, 0),
|
|
('LatDist', msg_id_a, 0),
|
|
('LongAccel', msg_id_a, 0),
|
|
('Meas', msg_id_a, 0),
|
|
('Tracked', msg_id_a, 0),
|
|
('Index', msg_id_a, 0),
|
|
|
|
('LatSpeed', msg_id_b, 0),
|
|
('Index2', msg_id_b, 0),
|
|
])
|
|
|
|
checks.extend([
|
|
(msg_id_a, 8),
|
|
(msg_id_b, 8),
|
|
])
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar)
|
|
|
|
class RadarInterface(RadarInterfaceBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
self.rcp = get_radar_can_parser(CP)
|
|
self.updated_messages = set()
|
|
self.track_id = 0
|
|
self.trigger_msg = RADAR_MSGS_B[-1]
|
|
|
|
def update(self, can_strings):
|
|
if self.rcp is None:
|
|
return super().update(None)
|
|
|
|
values = self.rcp.update_strings(can_strings)
|
|
self.updated_messages.update(values)
|
|
|
|
if self.trigger_msg not in self.updated_messages:
|
|
return None
|
|
|
|
ret = car.RadarData.new_message()
|
|
|
|
# Errors
|
|
errors = []
|
|
sgu_info = self.rcp.vl['TeslaRadarSguInfo']
|
|
if not self.rcp.can_valid:
|
|
errors.append('canError')
|
|
if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
|
|
errors.append('fault')
|
|
ret.errors = errors
|
|
|
|
# Radar tracks
|
|
for i in range(NUM_POINTS):
|
|
msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
|
|
msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
|
|
|
|
# Make sure msg A and B are together
|
|
if msg_a['Index'] != msg_b['Index2']:
|
|
continue
|
|
|
|
# Check if it's a valid track
|
|
if not msg_a['Tracked']:
|
|
if i in self.pts:
|
|
del self.pts[i]
|
|
continue
|
|
|
|
# New track!
|
|
if i not in self.pts:
|
|
self.pts[i] = car.RadarData.RadarPoint.new_message()
|
|
self.pts[i].trackId = self.track_id
|
|
self.track_id += 1
|
|
|
|
# Parse track data
|
|
self.pts[i].dRel = msg_a['LongDist']
|
|
self.pts[i].yRel = msg_a['LatDist']
|
|
self.pts[i].vRel = msg_a['LongSpeed']
|
|
self.pts[i].aRel = msg_a['LongAccel']
|
|
self.pts[i].yvRel = msg_b['LatSpeed']
|
|
self.pts[i].measured = bool(msg_a['Meas'])
|
|
|
|
ret.points = list(self.pts.values())
|
|
self.updated_messages.clear()
|
|
return ret
|