From b7974273eae881de8beccc9e6b983afc1451e92e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 27 Jan 2022 14:44:54 -0800 Subject: [PATCH] do rest and formatting --- opendbc | 2 +- selfdrive/car/chrysler/radar_interface.py | 14 +++++++------- selfdrive/car/ford/radar_interface.py | 3 ++- selfdrive/car/gm/radar_interface.py | 19 ++++++++----------- selfdrive/car/honda/radar_interface.py | 8 ++++---- selfdrive/car/toyota/radar_interface.py | 7 ++++--- 6 files changed, 26 insertions(+), 27 deletions(-) diff --git a/opendbc b/opendbc index 8af51dcb5c..3a433eb22a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8af51dcb5c9675ae3d8e542c9b30190f8ca0d6de +Subproject commit 3a433eb22a4243d6d94ef3f219791002f7850d04 diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index acf802df49..5b8dba67f4 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -19,17 +19,17 @@ def _create_radar_can_parser(car_fingerprint): # ('LONG_DIST', 1075), 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 + ['LAT_DIST'] * msg_n + + ['REL_SPEED'] * msg_n, + RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST + 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? checks = list(zip(RADAR_MSGS_C + - RADAR_MSGS_D, - [20]*msg_n + # 20Hz (0.05s) - [20]*msg_n)) # 20Hz (0.05s) + RADAR_MSGS_D, + [20] * msg_n + # 20Hz (0.05s) + [20] * msg_n)) # 20Hz (0.05s) return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 54b9c50109..94eb8bb0cc 100755 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -7,11 +7,12 @@ from selfdrive.car.interfaces import RadarInterfaceBase 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)) - checks = list(zip(RADAR_MSGS, [20]*msg_n)) + checks = list(zip(RADAR_MSGS, [20] * msg_n)) return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index d1ad1c1635..66fac54748 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -14,6 +14,7 @@ NUM_SLOTS = 20 # messages that are present in DBC LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS + def create_radar_can_parser(car_fingerprint): if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV): return None @@ -21,17 +22,13 @@ def create_radar_can_parser(car_fingerprint): # C1A-ARS3-A by Continental radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)) signals = list(zip(['FLRRNumValidTargets', - 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt', - 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt', - 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] + - ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS + - ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS + - ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS, - [RADAR_HEADER_MSG] * 7 + radar_targets * 6, - [0] * 7 + - [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS + - [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS + - [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)) + 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt', + 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt', + 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] + + ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS + + ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS + + ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS, + [RADAR_HEADER_MSG] * 7 + radar_targets * 6)) checks = list({(s[1], 14) for s in signals}) diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 45e015af6e..629ab01d4c 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -4,13 +4,13 @@ from opendbc.can.parser import CANParser from selfdrive.car.interfaces import RadarInterfaceBase from selfdrive.car.honda.values import DBC + def _create_nidec_can_parser(car_fingerprint): radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) signals = list(zip(['RADAR_STATE'] + - ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + - ['REL_SPEED'] * 16, - [0x400] + radar_messages[1:] * 4, - [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)) + ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + + ['REL_SPEED'] * 16, + [0x400] + radar_messages[1:] * 4)) checks = [(s[1], 20) for s in signals] return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 67386c497e..590840851d 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -4,6 +4,7 @@ from cereal import car from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR from selfdrive.car.interfaces import RadarInterfaceBase + def _create_radar_can_parser(car_fingerprint): if car_fingerprint in TSS2_CAR: RADAR_A_MSGS = list(range(0x180, 0x190)) @@ -16,10 +17,10 @@ def _create_radar_can_parser(car_fingerprint): msg_b_n = len(RADAR_B_MSGS) 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)) + ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * 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))) + checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n))) return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)