mirror of https://github.com/commaai/openpilot.git
102 lines
3.5 KiB
Python
Executable File
102 lines
3.5 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import math
|
|
from cereal import car
|
|
from openpilot.common.conversions import Conversions as CV
|
|
from opendbc.can.parser import CANParser
|
|
from openpilot.selfdrive.car.gm.values import DBC, CanBus
|
|
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
|
|
|
|
RADAR_HEADER_MSG = 1120
|
|
SLOT_1_MSG = RADAR_HEADER_MSG + 1
|
|
NUM_SLOTS = 20
|
|
|
|
# Actually it's 0x47f, but can parser only reports
|
|
# messages that are present in DBC
|
|
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
|
|
|
|
|
|
def create_radar_can_parser(car_fingerprint):
|
|
# C1A-ARS3-A by Continental
|
|
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
|
|
signals = list(zip(['FLRRNumValidTargets',
|
|
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
|
|
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
|
|
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
|
|
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
|
|
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
|
|
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
|
|
[RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
|
|
|
|
messages = list({(s[1], 14) for s in signals})
|
|
|
|
return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE)
|
|
|
|
|
|
class RadarInterface(RadarInterfaceBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
|
|
self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
|
|
|
|
self.trigger_msg = LAST_RADAR_MSG
|
|
self.updated_messages = set()
|
|
self.radar_ts = CP.radarTimeStep
|
|
|
|
def update(self, can_strings):
|
|
if self.rcp is None:
|
|
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
|
|
|
|
ret = car.RadarData.new_message()
|
|
header = self.rcp.vl[RADAR_HEADER_MSG]
|
|
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
|
|
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
|
|
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
|
|
errors = []
|
|
if not self.rcp.can_valid:
|
|
errors.append("canError")
|
|
if fault:
|
|
errors.append("fault")
|
|
ret.errors = errors
|
|
|
|
currentTargets = set()
|
|
num_targets = header['FLRRNumValidTargets']
|
|
|
|
# Not all radar messages describe targets,
|
|
# no need to monitor all of the self.rcp.msgs_upd
|
|
for ii in self.updated_messages:
|
|
if ii == RADAR_HEADER_MSG:
|
|
continue
|
|
|
|
if num_targets == 0:
|
|
break
|
|
|
|
cpt = self.rcp.vl[ii]
|
|
# Zero distance means it's an empty target slot
|
|
if cpt['TrkRange'] > 0.0:
|
|
targetId = cpt['TrkObjectID']
|
|
currentTargets.add(targetId)
|
|
if targetId not in self.pts:
|
|
self.pts[targetId] = car.RadarData.RadarPoint.new_message()
|
|
self.pts[targetId].trackId = targetId
|
|
distance = cpt['TrkRange']
|
|
self.pts[targetId].dRel = distance # from front of car
|
|
# From driver's pov, left is positive
|
|
self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
|
|
self.pts[targetId].vRel = cpt['TrkRangeRate']
|
|
self.pts[targetId].aRel = float('nan')
|
|
self.pts[targetId].yvRel = float('nan')
|
|
|
|
for oldTarget in list(self.pts.keys()):
|
|
if oldTarget not in currentTargets:
|
|
del self.pts[oldTarget]
|
|
|
|
ret.points = list(self.pts.values())
|
|
self.updated_messages.clear()
|
|
return ret
|