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94 lines
2.6 KiB
94 lines
2.6 KiB
7 years ago
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#!/usr/bin/env python
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import os
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import numpy as np
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from selfdrive.can.parser import CANParser
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from cereal import car
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from common.realtime import sec_since_boot
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import zmq
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from selfdrive.services import service_list
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import selfdrive.messaging as messaging
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RADAR_MSGS = range(0x500, 0x540)
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def _create_radard_can_parser():
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dbc_f = 'ford_fusion_2018_adas.dbc'
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msg_n = len(RADAR_MSGS)
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signals = zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
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RADAR_MSGS * 3,
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[0] * msg_n + [0] * msg_n + [0] * msg_n)
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checks = zip(RADAR_MSGS, [20]*msg_n)
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return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
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class RadarInterface(object):
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def __init__(self, CP):
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# radar
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self.pts = {}
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self.validCnt = {key: 0 for key in RADAR_MSGS}
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self.track_id = 0
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self.delay = 0.0 # Delay of radar
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# Nidec
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self.rcp = _create_radard_can_parser()
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context = zmq.Context()
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self.logcan = messaging.sub_sock(context, service_list['can'].port)
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def update(self):
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canMonoTimes = []
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updated_messages = set()
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while 1:
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tm = int(sec_since_boot() * 1e9)
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updated_messages.update(self.rcp.update(tm, True))
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# TODO: do not hardcode last msg
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if 0x53f in updated_messages:
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break
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ret = car.RadarState.new_message()
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errors = []
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if not self.rcp.can_valid:
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errors.append("commIssue")
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ret.errors = errors
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ret.canMonoTimes = canMonoTimes
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for ii in updated_messages:
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cpt = self.rcp.vl[ii]
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if cpt['X_Rel'] > 0.00001:
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self.validCnt[ii] = 0 # reset counter
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if cpt['X_Rel'] > 0.00001:
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self.validCnt[ii] += 1
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else:
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self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
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#print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
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# radar point only valid if there have been enough valid measurements
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if self.validCnt[ii] > 0:
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if ii not in self.pts:
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self.pts[ii] = car.RadarState.RadarPoint.new_message()
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self.pts[ii].trackId = self.track_id
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self.track_id += 1
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self.pts[ii].dRel = cpt['X_Rel'] # from front of car
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self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * np.pi / 180. # in car frame's y axis, left is positive
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self.pts[ii].vRel = cpt['V_Rel']
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self.pts[ii].aRel = float('nan')
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self.pts[ii].yvRel = float('nan')
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self.pts[ii].measured = True
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else:
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if ii in self.pts:
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del self.pts[ii]
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ret.points = self.pts.values()
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return ret
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if __name__ == "__main__":
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RI = RadarInterface(None)
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while 1:
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ret = RI.update()
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print(chr(27) + "[2J")
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print ret
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