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88 lines
2.8 KiB
88 lines
2.8 KiB
#!/usr/bin/env python3
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from cereal import car
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from opendbc.can.parser import CANParser
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from selfdrive.car.interfaces import RadarInterfaceBase
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from selfdrive.car.honda.values import DBC
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def _create_nidec_can_parser(car_fingerprint):
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radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
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signals = list(zip(['RADAR_STATE'] +
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['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
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['REL_SPEED'] * 16,
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[0x400] + radar_messages[1:] * 4))
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checks = [(s[1], 20) for s in signals]
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return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
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class RadarInterface(RadarInterfaceBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.track_id = 0
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self.radar_fault = False
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self.radar_wrong_config = False
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self.radar_off_can = CP.radarUnavailable
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self.radar_ts = CP.radarTimeStep
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self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar
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# Nidec
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if self.radar_off_can:
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self.rcp = None
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else:
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self.rcp = _create_nidec_can_parser(CP.carFingerprint)
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self.trigger_msg = 0x445
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self.updated_messages = set()
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def update(self, can_strings):
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# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
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# radard at 20Hz and return no points
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if self.radar_off_can:
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return super().update(None)
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vls = self.rcp.update_strings(can_strings)
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self.updated_messages.update(vls)
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if self.trigger_msg not in self.updated_messages:
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return None
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rr = self._update(self.updated_messages)
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self.updated_messages.clear()
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return rr
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def _update(self, updated_messages):
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ret = car.RadarData.new_message()
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for ii in sorted(updated_messages):
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cpt = self.rcp.vl[ii]
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if ii == 0x400:
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# check for radar faults
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self.radar_fault = cpt['RADAR_STATE'] != 0x79
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self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
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elif 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.RadarData.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 = True
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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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errors = []
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if not self.rcp.can_valid:
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errors.append("canError")
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if self.radar_fault:
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errors.append("fault")
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if self.radar_wrong_config:
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errors.append("wrongConfig")
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ret.errors = errors
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ret.points = list(self.pts.values())
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return ret
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