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94 lines
3.2 KiB
94 lines
3.2 KiB
#!/usr/bin/env python3
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from opendbc.can.parser import CANParser
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from cereal import car
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from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
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from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
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def _create_radar_can_parser(car_fingerprint):
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if car_fingerprint in TSS2_CAR:
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RADAR_A_MSGS = list(range(0x180, 0x190))
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RADAR_B_MSGS = list(range(0x190, 0x1a0))
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else:
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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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msg_a_n = len(RADAR_A_MSGS)
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msg_b_n = len(RADAR_B_MSGS)
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messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True))
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return CANParser(DBC[car_fingerprint]['radar'], messages, 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_ts = CP.radarTimeStep
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if CP.carFingerprint in TSS2_CAR:
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self.RADAR_A_MSGS = list(range(0x180, 0x190))
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self.RADAR_B_MSGS = list(range(0x190, 0x1a0))
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else:
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self.RADAR_A_MSGS = list(range(0x210, 0x220))
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self.RADAR_B_MSGS = list(range(0x220, 0x230))
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self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS}
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self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint)
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self.trigger_msg = self.RADAR_B_MSGS[-1]
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self.updated_messages = set()
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def update(self, can_strings):
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if self.rcp is None:
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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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errors = []
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if not self.rcp.can_valid:
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errors.append("canError")
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ret.errors = errors
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for ii in sorted(updated_messages):
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if ii in self.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.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 = 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 = list(self.pts.values())
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return ret
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