You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
127 lines
4.1 KiB
127 lines
4.1 KiB
#!/usr/bin/env python
|
|
import zmq
|
|
import math
|
|
import time
|
|
import numpy as np
|
|
from cereal import car
|
|
from selfdrive.can.parser import CANParser
|
|
from selfdrive.car.gm.interface import CanBus
|
|
from selfdrive.car.gm.values import DBC, CAR
|
|
from common.realtime import sec_since_boot
|
|
from selfdrive.services import service_list
|
|
import selfdrive.messaging as messaging
|
|
|
|
RADAR_HEADER_MSG = 1120
|
|
SLOT_1_MSG = RADAR_HEADER_MSG + 1
|
|
NUM_SLOTS = 20
|
|
|
|
# Actually it's 0x47f, but can parser only reports
|
|
# messages that are present in DBC
|
|
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
|
|
|
|
def create_radard_can_parser(canbus, car_fingerprint):
|
|
|
|
dbc_f = DBC[car_fingerprint]['radar']
|
|
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
|
|
# C1A-ARS3-A by Continental
|
|
radar_targets = 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))
|
|
|
|
checks = []
|
|
|
|
return CANParser(dbc_f, signals, checks, canbus.obstacle)
|
|
else:
|
|
return None
|
|
|
|
class RadarInterface(object):
|
|
def __init__(self, CP):
|
|
# radar
|
|
self.pts = {}
|
|
|
|
self.delay = 0.0 # Delay of radar
|
|
|
|
canbus = CanBus()
|
|
print "Using %d as obstacle CAN bus ID" % canbus.obstacle
|
|
self.rcp = create_radard_can_parser(canbus, CP.carFingerprint)
|
|
|
|
context = zmq.Context()
|
|
self.logcan = messaging.sub_sock(context, service_list['can'].port)
|
|
|
|
def update(self):
|
|
updated_messages = set()
|
|
ret = car.RadarState.new_message()
|
|
while 1:
|
|
|
|
if self.rcp is None:
|
|
time.sleep(0.05) # nothing to do
|
|
return ret
|
|
|
|
tm = int(sec_since_boot() * 1e9)
|
|
updated_messages.update(self.rcp.update(tm, True))
|
|
if LAST_RADAR_MSG in updated_messages:
|
|
break
|
|
|
|
header = self.rcp.vl[RADAR_HEADER_MSG]
|
|
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
|
|
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
|
|
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
|
|
errors = []
|
|
if not self.rcp.can_valid:
|
|
errors.append("commIssue")
|
|
if fault:
|
|
errors.append("fault")
|
|
ret.errors = errors
|
|
|
|
currentTargets = set()
|
|
num_targets = header['FLRRNumValidTargets']
|
|
|
|
# Not all radar messages describe targets,
|
|
# no need to monitor all of the self.rcp.msgs_upd
|
|
for ii in updated_messages:
|
|
if ii == RADAR_HEADER_MSG:
|
|
continue
|
|
|
|
if num_targets == 0:
|
|
break
|
|
|
|
cpt = self.rcp.vl[ii]
|
|
# Zero distance means it's an empty target slot
|
|
if cpt['TrkRange'] > 0.0:
|
|
targetId = cpt['TrkObjectID']
|
|
currentTargets.add(targetId)
|
|
if targetId not in self.pts:
|
|
self.pts[targetId] = car.RadarState.RadarPoint.new_message()
|
|
self.pts[targetId].trackId = targetId
|
|
distance = cpt['TrkRange']
|
|
self.pts[targetId].dRel = distance # from front of car
|
|
# From driver's pov, left is positive
|
|
deg_to_rad = np.pi/180.
|
|
self.pts[targetId].yRel = math.sin(deg_to_rad * cpt['TrkAzimuth']) * distance
|
|
self.pts[targetId].vRel = cpt['TrkRangeRate']
|
|
self.pts[targetId].aRel = float('nan')
|
|
self.pts[targetId].yvRel = float('nan')
|
|
|
|
for oldTarget in self.pts.keys():
|
|
if not oldTarget in currentTargets:
|
|
del self.pts[oldTarget]
|
|
|
|
ret.points = self.pts.values()
|
|
return ret
|
|
|
|
if __name__ == "__main__":
|
|
RI = RadarInterface(None)
|
|
while 1:
|
|
ret = RI.update()
|
|
print(chr(27) + "[2J")
|
|
print(ret)
|
|
|