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83 lines
2.4 KiB
83 lines
2.4 KiB
#!/usr/bin/env python
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import numpy as np
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from selfdrive.car.honda.can_parser import CANParser
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from selfdrive.boardd.boardd import can_capnp_to_can_list
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from cereal import car
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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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def _create_radard_can_parser():
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dbc_f = 'acura_ilx_2016_nidec.dbc'
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radar_messages = range(0x430, 0x43A) + range(0x440, 0x446)
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signals = zip(['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
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['REL_SPEED'] * 16, radar_messages * 4,
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[255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
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checks = zip(radar_messages, [20]*16)
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return CANParser(dbc_f, signals, checks)
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class RadarInterface(object):
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def __init__(self):
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# radar
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self.pts = {}
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self.track_id = 0
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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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can_pub_radar = []
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# TODO: can hang if no packets show up
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while 1:
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for a in messaging.drain_sock(self.logcan, wait_for_one=True):
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canMonoTimes.append(a.logMonoTime)
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can_pub_radar.extend(can_capnp_to_can_list(a.can, [1, 3]))
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# only run on the 0x445 packets, used for timing
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if any(x[0] == 0x445 for x in can_pub_radar):
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break
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updated_messages = self.rcp.update_can(can_pub_radar)
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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("notValid")
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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['LONG_DIST'] < 255:
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if ii not in self.pts or cpt['NEW_TRACK']:
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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['LONG_DIST'] # from front of car
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self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
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self.pts[ii].vRel = cpt['REL_SPEED']
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self.pts[ii].aRel = float('nan')
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self.pts[ii].yvRel = float('nan')
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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()
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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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