85 lines
2.6 KiB
Python
Executable File
85 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from opendbc.can.parser import CANParser
|
|
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
|
|
from openpilot.selfdrive.car.honda.values import DBC
|
|
|
|
|
|
def _create_nidec_can_parser(car_fingerprint):
|
|
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
|
|
messages = [(m, 20) for m in radar_messages]
|
|
return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
|
|
|
|
|
|
class RadarInterface(RadarInterfaceBase):
|
|
def __init__(self, CP):
|
|
super().__init__(CP)
|
|
self.track_id = 0
|
|
self.radar_fault = False
|
|
self.radar_wrong_config = False
|
|
self.radar_off_can = CP.radarUnavailable
|
|
self.radar_ts = CP.radarTimeStep
|
|
|
|
self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar
|
|
|
|
# Nidec
|
|
if self.radar_off_can:
|
|
self.rcp = None
|
|
else:
|
|
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
|
|
self.trigger_msg = 0x445
|
|
self.updated_messages = set()
|
|
|
|
def update(self, can_strings):
|
|
# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
|
|
# radard at 20Hz and return no points
|
|
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()
|
|
|
|
for ii in sorted(updated_messages):
|
|
cpt = self.rcp.vl[ii]
|
|
if ii == 0x400:
|
|
# check for radar faults
|
|
self.radar_fault = cpt['RADAR_STATE'] != 0x79
|
|
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
|
|
elif cpt['LONG_DIST'] < 255:
|
|
if ii not in self.pts or cpt['NEW_TRACK']:
|
|
self.pts[ii] = car.RadarData.RadarPoint.new_message()
|
|
self.pts[ii].trackId = self.track_id
|
|
self.track_id += 1
|
|
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
|
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
|
self.pts[ii].vRel = cpt['REL_SPEED']
|
|
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]
|
|
|
|
errors = []
|
|
if not self.rcp.can_valid:
|
|
errors.append("canError")
|
|
if self.radar_fault:
|
|
errors.append("fault")
|
|
if self.radar_wrong_config:
|
|
errors.append("wrongConfig")
|
|
ret.errors = errors
|
|
|
|
ret.points = list(self.pts.values())
|
|
|
|
return ret
|