151b707901
* What if: no signals! 🙅🤌🎆 * do hyundai * honda! * do gm * and vw! (sorry comments) * do those * -500 * little more * fix subie * change back * bumpopendbc * oof lol * messages * some clean up * here too * clean up honda radar_interface.py fix rm * bump opendbc to master * add todo * rename checks in tesla/radar_interface --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: cbfcc405715ae4fa45b3beea03dd82ba925495c4
90 lines
2.4 KiB
Python
Executable File
90 lines
2.4 KiB
Python
Executable File
#!/usr/bin/env python3
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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.tesla.values import DBC, CANBUS
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from selfdrive.car.interfaces import RadarInterfaceBase
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RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
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RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
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NUM_POINTS = len(RADAR_MSGS_A)
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def get_radar_can_parser(CP):
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# Status messages
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messages = [
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('TeslaRadarSguInfo', 10),
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]
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# Radar tracks. There are also raw point clouds available,
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# we don't use those.
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for i in range(NUM_POINTS):
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msg_id_a = RADAR_MSGS_A[i]
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msg_id_b = RADAR_MSGS_B[i]
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messages.extend([
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(msg_id_a, 8),
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(msg_id_b, 8),
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])
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return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
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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.rcp = get_radar_can_parser(CP)
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self.updated_messages = set()
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self.track_id = 0
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self.trigger_msg = RADAR_MSGS_B[-1]
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def update(self, can_strings):
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if self.rcp is None:
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return super().update(None)
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values = self.rcp.update_strings(can_strings)
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self.updated_messages.update(values)
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if self.trigger_msg not in self.updated_messages:
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return None
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ret = car.RadarData.new_message()
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# Errors
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errors = []
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sgu_info = self.rcp.vl['TeslaRadarSguInfo']
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if not self.rcp.can_valid:
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errors.append('canError')
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if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
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errors.append('fault')
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ret.errors = errors
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# Radar tracks
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for i in range(NUM_POINTS):
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msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
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msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
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# Make sure msg A and B are together
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if msg_a['Index'] != msg_b['Index2']:
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continue
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# Check if it's a valid track
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if not msg_a['Tracked']:
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if i in self.pts:
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del self.pts[i]
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continue
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# New track!
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if i not in self.pts:
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self.pts[i] = car.RadarData.RadarPoint.new_message()
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self.pts[i].trackId = self.track_id
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self.track_id += 1
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# Parse track data
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self.pts[i].dRel = msg_a['LongDist']
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self.pts[i].yRel = msg_a['LatDist']
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self.pts[i].vRel = msg_a['LongSpeed']
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self.pts[i].aRel = msg_a['LongAccel']
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self.pts[i].yvRel = msg_b['LatSpeed']
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self.pts[i].measured = bool(msg_a['Meas'])
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ret.points = list(self.pts.values())
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self.updated_messages.clear()
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return ret
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