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70 lines
2.0 KiB
70 lines
2.0 KiB
#!/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.interfaces import RadarInterfaceBase
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from selfdrive.car.hyundai.values import DBC
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def get_radar_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("ACC_ObjStatus", "SCC11", 0),
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("ACC_ObjLatPos", "SCC11", 0),
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("ACC_ObjDist", "SCC11", 0),
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("ACC_ObjRelSpd", "SCC11", 0),
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]
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checks = [
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# address, frequency
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("SCC11", 50),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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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.trigger_msg = 0x420
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self.track_id = 0
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self.radar_off_can = CP.radarOffCan
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def update(self, can_strings):
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if self.radar_off_can:
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return super().update(None)
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vls = self.rcp.update_strings(can_strings)
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self.updated_messages.update(vls)
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if self.trigger_msg not in self.updated_messages:
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return None
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rr = self._update(self.updated_messages)
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self.updated_messages.clear()
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return rr
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def _update(self, updated_messages):
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ret = car.RadarData.new_message()
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cpt = self.rcp.vl
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errors = []
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if not self.rcp.can_valid:
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errors.append("canError")
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ret.errors = errors
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valid = cpt["SCC11"]['ACC_ObjStatus']
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if valid:
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for ii in range(2):
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if ii not in self.pts:
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self.pts[ii] = car.RadarData.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["SCC11"]['ACC_ObjDist'] # from front of car
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self.pts[ii].yRel = -cpt["SCC11"]['ACC_ObjLatPos'] # in car frame's y axis, left is negative
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self.pts[ii].vRel = cpt["SCC11"]['ACC_ObjRelSpd']
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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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ret.points = list(self.pts.values())
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return ret
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