update radar interfaces

selfdrive/car/chrysler/radar_interface.py

@@ -11,23 +11,18 @@ NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
 def _create_radar_can_parser(car_fingerprint):
   msg_n = len(RADAR_MSGS_C)
-  # list of [(signal name, message name or number, initial values), (...)]
-  # [('RADAR_STATE', 1024, 0),
-  #  ('LONG_DIST', 1072, 255),
-  #  ('LONG_DIST', 1073, 255),
-  #  ('LONG_DIST', 1074, 255),
-  #  ('LONG_DIST', 1075, 255),
+  # list of [(signal name, message name or number), (...)]
+  # [('RADAR_STATE', 1024),
+  #  ('LONG_DIST', 1072),
+  #  ('LONG_DIST', 1073),
+  #  ('LONG_DIST', 1074),
+  #  ('LONG_DIST', 1075),
 
-  # The factor and offset are applied by the dbc parsing library, so the
-  # default values should be after the factor/offset are applied.
   signals = list(zip(['LONG_DIST'] * msg_n +
                 ['LAT_DIST'] * msg_n +
                 ['REL_SPEED'] * msg_n,
                 RADAR_MSGS_C * 2 +  # LONG_DIST, LAT_DIST
-                RADAR_MSGS_D,    # REL_SPEED
-                [0] * msg_n +  # LONG_DIST
-                [-1000] * msg_n +    # LAT_DIST
-                [-146.278] * msg_n))  # REL_SPEED set to 0, factor/offset to this
+                RADAR_MSGS_D))    # REL_SPEED
   # TODO what are the checks actually used for?
   # honda only checks the last message,
   # toyota checks all the messages. Which do we want?

selfdrive/car/ford/radar_interface.py

@@ -10,8 +10,7 @@ RADAR_MSGS = list(range(0x500, 0x540))
 def _create_radar_can_parser(car_fingerprint):
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                     RADAR_MSGS * 3,
-                     [0] * msg_n + [0] * msg_n + [0] * msg_n))
+                     RADAR_MSGS * 3))
   checks = list(zip(RADAR_MSGS, [20]*msg_n))
 
   return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)

selfdrive/car/hyundai/radar_interface.py

@@ -20,11 +20,11 @@ def get_radar_can_parser(CP):
   for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
     msg = f"RADAR_TRACK_{addr:x}"
     signals += [
-      ("STATE", msg, 0),
-      ("AZIMUTH", msg, 0),
-      ("LONG_DIST", msg, 0),
-      ("REL_ACCEL", msg, 0),
-      ("REL_SPEED", msg, 0),
+      ("STATE", msg),
+      ("AZIMUTH", msg),
+      ("LONG_DIST", msg),
+      ("REL_ACCEL", msg),
+      ("REL_SPEED", msg),
     ]
     checks += [(msg, 50)]
   return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
@@ -81,7 +81,7 @@ class RadarInterface(RadarInterfaceBase):
         self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
         self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
         self.pts[addr].vRel = msg['REL_SPEED']
-        self.pts[addr].aRel = msg['REL_ACCEL'] 
+        self.pts[addr].aRel = msg['REL_ACCEL']
         self.pts[addr].yvRel = float('nan')
 
       else:

selfdrive/car/tesla/radar_interface.py

@@ -11,9 +11,9 @@ NUM_POINTS = len(RADAR_MSGS_A)
 def get_radar_can_parser(CP):
   # Status messages
   signals = [
-    ('RADC_HWFail', 'TeslaRadarSguInfo', 0),
-    ('RADC_SGUFail', 'TeslaRadarSguInfo', 0),
-    ('RADC_SensorDirty', 'TeslaRadarSguInfo', 0),
+    ('RADC_HWFail', 'TeslaRadarSguInfo'),
+    ('RADC_SGUFail', 'TeslaRadarSguInfo'),
+    ('RADC_SensorDirty', 'TeslaRadarSguInfo'),
   ]
 
   checks = [
@@ -29,16 +29,16 @@ def get_radar_can_parser(CP):
     # There is a bunch more info in the messages,
     # but these are the only things actually used in openpilot
     signals.extend([
-      ('LongDist', msg_id_a, 255),
-      ('LongSpeed', msg_id_a, 0),
-      ('LatDist', msg_id_a, 0),
-      ('LongAccel', msg_id_a, 0),
-      ('Meas', msg_id_a, 0),
-      ('Tracked', msg_id_a, 0),
-      ('Index', msg_id_a, 0),
-
-      ('LatSpeed', msg_id_b, 0),
-      ('Index2', msg_id_b, 0),
+      ('LongDist', msg_id_a),
+      ('LongSpeed', msg_id_a),
+      ('LatDist', msg_id_a),
+      ('LongAccel', msg_id_a),
+      ('Meas', msg_id_a),
+      ('Tracked', msg_id_a),
+      ('Index', msg_id_a),
+
+      ('LatSpeed', msg_id_b),
+      ('Index2', msg_id_b),
     ])
 
     checks.extend([

selfdrive/car/toyota/radar_interface.py

@@ -17,8 +17,7 @@ def _create_radar_can_parser(car_fingerprint):
 
   signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
                 ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
-                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
-                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n))
+                RADAR_A_MSGS * 5 + RADAR_B_MSGS))
 
   checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))