card parses radar points (#33443)

* interfaces returns radarinterface

old-commit-hash: 9ad1f096bfca3712320f19b1b49aa9e6ac9b68e4

* bump

old-commit-hash: 20334a8b257c6037e11d02f2ba7b1f02c59f3240

* get RI from opendbc

old-commit-hash: b5f6d0c48c90927926e9dd557130075aeec5edee

* stash so far

old-commit-hash: 5aa2c842eb152316434c17a661df05bb8af61f47

* new liveTracks message (radard expects and needs RadarData)

* this should just work?

* whoops

* fix that

* rm liveTracks from radard pm

* fix proceess replay

* lol fcw diff, something's not right

* actually there's fcw in original route. it's pretty close

* no tracks!

* fix test_leads

* CPU moved across procs

* fix not engageable from onroadEvents

* bump

* fixes

* bump to master

* radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq

* fix that (it works!)

* combine

join

* bump

* bump

* deprecate

* why

* fix incorrect args

* remove cumLagMs from process_replay

* update refs

cereal/car.capnp

@@ -508,6 +508,7 @@ struct CarParams {
   carFw @44 :List(CarFw);
 
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  radarDelay @74 :Float32;
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 

cereal/log.capnp

@@ -611,7 +611,6 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
-  cumLagMs @5 :Float32;
 
   struct LeadData {
     dRel @0 :Float32;
@@ -641,6 +640,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calCycleDEPRECATED @8 :Int32;
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
+  cumLagMsDEPRECATED @5 :Float32;
 }
 
 struct LiveCalibrationData {
@@ -671,7 +671,7 @@ struct LiveCalibrationData {
   }
 }
 
-struct LiveTracks {
+struct LiveTracksDEPRECATED {
   trackId @0 :Int32;
   dRel @1 :Float32;
   yRel @2 :Float32;
@@ -2335,7 +2335,7 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @16 :List(LiveTracks);
+    liveTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
@@ -2465,5 +2465,6 @@ struct Event {
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
   }
 }

opendbc_repo

@@ -1 +1 @@
-Subproject commit 86be858a37217d003e8d8b0097522656df7a5870
+Subproject commit c0a9ab5c39197d48cc920a818a85610e526f9e73

selfdrive/car/card.py

@@ -16,8 +16,8 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from opendbc.car import DT_CTRL, carlog, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car
-from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.car_helpers import get_car, get_radar_interface
+from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
@@ -63,13 +63,14 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
 
 class Car:
   CI: CarInterfaceBase
+  RI: RadarInterfaceBase
   CP: structs.CarParams
   CP_capnp: car.CarParams
 
-  def __init__(self, CI=None) -> None:
+  def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -101,12 +102,14 @@ class Car:
           cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.RI = get_radar_interface(self.CI.CP)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
     else:
       self.CI, self.CP = CI, CI.CP
+      self.RI = RI
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -149,7 +152,7 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> car.CarState:
+  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
     """carState update loop, driven by can"""
 
     # Update carState from CAN
@@ -159,6 +162,9 @@ class Car:
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
+    # Update radar tracks from CAN
+    RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs))
+
     self.sm.update(0)
 
     can_rcv_valid = len(can_strs) > 0
@@ -175,9 +181,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    return CS
+    return CS, RD
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
     self.events.clear()
 
     CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
@@ -196,9 +202,12 @@ class Car:
       (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
+    if RD is not None and len(RD.errors):
+      self.events.add(EventName.radarFault)
+
     CS.events = self.events.to_msg()
 
-  def state_publish(self, CS: car.CarState):
+  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -222,6 +231,12 @@ class Car:
     cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
     self.pm.send('carState', cs_send)
 
+    if RD is not None:
+      tracks_msg = messaging.new_message('liveTracks')
+      tracks_msg.valid = CS.canValid and len(RD.errors) == 0
+      tracks_msg.liveTracks = convert_to_capnp(RD)
+      self.pm.send('liveTracks', tracks_msg)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
@@ -241,14 +256,14 @@ class Car:
       self.CC_prev = CC
 
   def step(self):
-    CS = self.state_update()
+    CS, RD = self.state_update()
 
-    self.update_events(CS)
+    self.update_events(CS, RD)
 
     if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
       self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
-    self.state_publish(CS)
+    self.state_publish(CS, RD)
 
     initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])

selfdrive/car/helpers.py

@@ -35,7 +35,7 @@ def asdictref(obj) -> dict[str, Any]:
   return _asdictref_inner(obj)
 
 
-def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
+def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
   struct_dict = asdictref(struct)
 
   if isinstance(struct, structs.CarParams):
@@ -51,6 +51,8 @@ def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarC
     struct_capnp = car.CarState.new_message(**struct_dict)
   elif isinstance(struct, structs.CarControl.Actuators):
     struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
+  elif isinstance(struct, structs.RadarData):
+    struct_capnp = car.RadarData.new_message(**struct_dict)
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 

selfdrive/car/tests/test_models.py

@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        card.update_events(CS)
+        card.update_events(CS, None)
         card.CS_prev = CS
         button_enable = (any(evt.enable for evt in CS.events) and
                          not any(evt == EventName.pedalPressed for evt in card.events.names))

selfdrive/controls/controlsd.py

@@ -96,7 +96,7 @@ class Controls:
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['testJoystick'], ignore_valid=['testJoystick', ],
                                   frequency=int(1/DT_CTRL))
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -301,7 +301,7 @@ class Controls:
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
+    if not self.sm.valid['radarState']:
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)

selfdrive/controls/radard.py

@@ -1,18 +1,15 @@
 #!/usr/bin/env python3
-import importlib
 import math
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
-from opendbc.car import structs
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 
 # Default lead acceleration decay set to 50% at 1s
@@ -194,14 +191,14 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
 
 
 class RadarD:
-  def __init__(self, radar_ts: float, delay: int = 0):
+  def __init__(self, delay: float = 0.0):
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
-    self.kalman_params = KalmanParams(radar_ts)
+    self.kalman_params = KalmanParams(DT_MDL)
 
     self.v_ego = 0.0
-    self.v_ego_hist = deque([0.0], maxlen=delay+1)
+    self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
     self.last_v_ego_frame = -1
 
     self.radar_state: capnp._DynamicStructBuilder | None = None
@@ -209,7 +206,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: structs.RadarData):
+  def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
@@ -255,27 +252,14 @@ class RadarD:
       self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
       self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
 
-  def publish(self, pm: messaging.PubMaster, lag_ms: float):
+  def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
 
     radar_msg = messaging.new_message("radarState")
     radar_msg.valid = self.radar_state_valid
     radar_msg.radarState = self.radar_state
-    radar_msg.radarState.cumLagMs = lag_ms
     pm.send("radarState", radar_msg)
 
-    # publish tracks for UI debugging (keep last)
-    tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
-    tracks_msg.valid = self.radar_state_valid
-    for index, tid in enumerate(sorted(self.tracks.keys())):
-      tracks_msg.liveTracks[index] = {
-        "trackId": tid,
-        "dRel": float(self.tracks[tid].dRel),
-        "yRel": float(self.tracks[tid].yRel),
-        "vRel": float(self.tracks[tid].vRel),
-      }
-    pm.send('liveTracks', tracks_msg)
-
 
 # fuses camera and radar data for best lead detection
 def main() -> None:
@@ -286,31 +270,17 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
-  # import the radar from the fingerprint
-  cloudlog.info("radard is importing %s", CP.carName)
-  RadarInterface = importlib.import_module(f'opendbc.car.{CP.carName}.radar_interface').RadarInterface
-
   # *** setup messaging
-  can_sock = messaging.sub_sock('can')
-  sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
-  pm = messaging.PubMaster(['radarState', 'liveTracks'])
+  sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
+  pm = messaging.PubMaster(['radarState'])
 
-  RI = RadarInterface(CP)
-
-  rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
-  RD = RadarD(CP.radarTimeStep, RI.delay)
+  RD = RadarD(CP.radarDelay)
 
   while 1:
-    can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
-    rr: structs.RadarData | None = RI.update(can_capnp_to_list(can_strings))
-    sm.update(0)
-    if rr is None:
-      continue
-
-    RD.update(sm, rr)
-    RD.publish(pm, -rk.remaining*1000.0)
+    sm.update()
 
-    rk.monitor_time()
+    RD.update(sm, sm['liveTracks'])
+    RD.publish(pm)
 
 
 if __name__ == "__main__":

selfdrive/controls/tests/test_leads.py

@@ -11,19 +11,21 @@ class TestLeads:
     def single_iter_pkg():
       # single iter package, with meaningless cans and empty carState/modelV2
       msgs = []
-      for _ in range(5):
+      for _ in range(500):
         can = messaging.new_message("can", 1)
         cs = messaging.new_message("carState")
+        cp = messaging.new_message("carParams")
         msgs.append(can.as_reader())
         msgs.append(cs.as_reader())
+        msgs.append(cp.as_reader())
       model = messaging.new_message("modelV2")
       msgs.append(model.as_reader())
 
       return msgs
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
-    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
-    states = [m for m in out if m.which() == "radarState"]
-    failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
+    out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
+    states = [m for m in out if m.which() == "liveTracks"]
+    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
 
     assert len(states) == 0 or all(failures)

selfdrive/test/process_replay/migration.py

@@ -1,6 +1,6 @@
 from collections import defaultdict
 
-from cereal import messaging
+from cereal import messaging, car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -17,6 +17,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   msgs = migrate_carOutput(msgs)
   msgs = migrate_controlsState(msgs)
   msgs = migrate_liveLocationKalman(msgs)
+  msgs = migrate_liveTracks(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -28,6 +29,35 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
   return msgs
 
 
+def migrate_liveTracks(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "liveTracksDEPRECATED":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = messaging.new_message('liveTracks')
+    new_msg.valid = msg.valid
+    new_msg.logMonoTime = msg.logMonoTime
+
+    pts = []
+    for track in msg.liveTracksDEPRECATED:
+      pt = car.RadarData.RadarPoint()
+      pt.trackId = track.trackId
+
+      pt.dRel = track.dRel
+      pt.yRel = track.yRel
+      pt.vRel = track.vRel
+      pt.aRel = track.aRel
+      pt.measured = True
+      pts.append(pt)
+
+    new_msg.liveTracks.points = pts
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
 def migrate_liveLocationKalman(lr):
   # migration needed only for routes before livePose
   if any(msg.which() == 'livePose' for msg in lr):

selfdrive/test/process_replay/process_replay.py

@@ -480,7 +480,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput"],
+    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
@@ -490,12 +490,11 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="radard",
-    pubs=["can", "carState", "modelV2"],
-    subs=["radarState", "liveTracks"],
-    ignore=["logMonoTime", "radarState.cumLagMs"],
+    pubs=["liveTracks", "carState", "modelV2"],
+    subs=["radarState"],
+    ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("can"),
-    main_pub="can",
+    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
   ),
   ProcessConfig(
     proc_name="plannerd",

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fb0827a00b21b97733f8385cf7ce87a21a526f4c
+2b842a259e15f4b8679f16a14de405b5df06ae1f

selfdrive/test/test_onroad.py

@@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 32.0,
-  "selfdrive.car.card": 26.0,
+  "selfdrive.car.card": 31.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -44,7 +44,7 @@ PROCS = {
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
-  "selfdrive.controls.radard": 7.0,
+  "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "system.hardware.hardwared": 3.87,