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118 lines
3.9 KiB
118 lines
3.9 KiB
#!/usr/bin/env python
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import math
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import time
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import numpy as np
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from cereal import car
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from selfdrive.can.parser import CANParser
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from selfdrive.car.gm.interface import CanBus
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from selfdrive.car.gm.values import DBC, CAR
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from common.realtime import sec_since_boot
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RADAR_HEADER_MSG = 1120
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SLOT_1_MSG = RADAR_HEADER_MSG + 1
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NUM_SLOTS = 20
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# Actually it's 0x47f, but can parser only reports
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# messages that are present in DBC
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LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
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def create_radar_can_parser(canbus, car_fingerprint):
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dbc_f = DBC[car_fingerprint]['radar']
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if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
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# C1A-ARS3-A by Continental
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radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
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signals = list(zip(['FLRRNumValidTargets',
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'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
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'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
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'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
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['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
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['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
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['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
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[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
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[0] * 7 +
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[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
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[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
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[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
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checks = []
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return CANParser(dbc_f, signals, checks, canbus.obstacle)
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else:
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return None
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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.delay = 0.0 # Delay of radar
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canbus = CanBus()
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print "Using %d as obstacle CAN bus ID" % canbus.obstacle
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self.rcp = create_radar_can_parser(canbus, CP.carFingerprint)
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self.trigger_msg = LAST_RADAR_MSG
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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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time.sleep(0.05) # nothing to do
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return car.RadarData.new_message()
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tm = int(sec_since_boot() * 1e9)
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vls = self.rcp.update_strings(tm, 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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ret = car.RadarData.new_message()
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header = self.rcp.vl[RADAR_HEADER_MSG]
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fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
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header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
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header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
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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 fault:
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errors.append("fault")
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ret.errors = errors
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currentTargets = set()
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num_targets = header['FLRRNumValidTargets']
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# Not all radar messages describe targets,
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# no need to monitor all of the self.rcp.msgs_upd
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for ii in self.updated_messages:
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if ii == RADAR_HEADER_MSG:
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continue
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if num_targets == 0:
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break
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cpt = self.rcp.vl[ii]
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# Zero distance means it's an empty target slot
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if cpt['TrkRange'] > 0.0:
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targetId = cpt['TrkObjectID']
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currentTargets.add(targetId)
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if targetId not in self.pts:
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self.pts[targetId] = car.RadarData.RadarPoint.new_message()
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self.pts[targetId].trackId = targetId
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distance = cpt['TrkRange']
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self.pts[targetId].dRel = distance # from front of car
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# From driver's pov, left is positive
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deg_to_rad = np.pi/180.
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self.pts[targetId].yRel = math.sin(deg_to_rad * cpt['TrkAzimuth']) * distance
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self.pts[targetId].vRel = cpt['TrkRangeRate']
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self.pts[targetId].aRel = float('nan')
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self.pts[targetId].yvRel = float('nan')
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for oldTarget in self.pts.keys():
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if not oldTarget in currentTargets:
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del self.pts[oldTarget]
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ret.points = self.pts.values()
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self.updated_messages.clear()
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return ret
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