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107 lines
3.3 KiB
107 lines
3.3 KiB
#!/usr/bin/env python
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import os
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import zmq
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import time
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from selfdrive.can.parser import CANParser
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from cereal import car
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from common.realtime import sec_since_boot
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from selfdrive.services import service_list
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import selfdrive.messaging as messaging
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from selfdrive.car.toyota.values import NO_DSU_CAR
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RADAR_A_MSGS = list(range(0x210, 0x220))
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RADAR_B_MSGS = list(range(0x220, 0x230))
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def _create_radard_can_parser():
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dbc_f = 'toyota_prius_2017_adas.dbc'
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msg_a_n = len(RADAR_A_MSGS)
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msg_b_n = len(RADAR_B_MSGS)
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signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
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['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
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RADAR_A_MSGS * 5 + RADAR_B_MSGS,
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[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
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checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
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return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
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class RadarInterface(object):
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def __init__(self, CP):
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# radar
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self.pts = {}
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self.valid_cnt = {key: 0 for key in RADAR_A_MSGS}
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self.track_id = 0
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self.delay = 0.0 # Delay of radar
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self.rcp = _create_radard_can_parser()
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self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR
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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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ret = car.RadarState.new_message()
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if self.no_dsu_car:
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# TODO: make a adas dbc file for dsu-less models
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time.sleep(0.05)
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return ret
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canMonoTimes = []
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updated_messages = set()
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while 1:
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tm = int(sec_since_boot() * 1e9)
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updated_messages.update(self.rcp.update(tm, True))
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if RADAR_B_MSGS[-1] in updated_messages:
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break
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errors = []
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if not self.rcp.can_valid:
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errors.append("commIssue")
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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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if ii in RADAR_A_MSGS:
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cpt = self.rcp.vl[ii]
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if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
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self.valid_cnt[ii] = 0 # reset counter
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if cpt['VALID'] and cpt['LONG_DIST'] < 255:
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self.valid_cnt[ii] += 1
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else:
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self.valid_cnt[ii] = max(self.valid_cnt[ii] -1, 0)
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score = self.rcp.vl[ii+16]['SCORE']
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# print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
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# radar point only valid if it's a valid measurement and score is above 50
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if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0):
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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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self.pts[ii].measured = bool(cpt['VALID'])
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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(None)
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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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