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91 lines
2.6 KiB
91 lines
2.6 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 openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
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from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
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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.CP = CP
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if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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messages = [('RadarStatus', 16)]
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self.num_points = 40
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self.trigger_msg = 1119
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else:
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messages = [('TeslaRadarSguInfo', 10)]
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self.num_points = 32
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self.trigger_msg = 878
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for i in range(self.num_points):
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messages.extend([
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(f'RadarPoint{i}_A', 16),
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(f'RadarPoint{i}_B', 16),
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])
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self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
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self.updated_messages = set()
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self.track_id = 0
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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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values = self.rcp.update_strings(can_strings)
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self.updated_messages.update(values)
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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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# Errors
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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.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
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radar_status = self.rcp.vl['RadarStatus']
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if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
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errors.append('fault')
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else:
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radar_status = self.rcp.vl['TeslaRadarSguInfo']
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if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
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errors.append('fault')
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ret.errors = errors
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# Radar tracks
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for i in range(self.num_points):
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msg_a = self.rcp.vl[f'RadarPoint{i}_A']
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msg_b = self.rcp.vl[f'RadarPoint{i}_B']
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# Make sure msg A and B are together
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if msg_a['Index'] != msg_b['Index2']:
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continue
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# Check if it's a valid track
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if not msg_a['Tracked']:
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if i in self.pts:
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del self.pts[i]
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continue
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# New track!
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if i not in self.pts:
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self.pts[i] = car.RadarData.RadarPoint.new_message()
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self.pts[i].trackId = self.track_id
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self.track_id += 1
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# Parse track data
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self.pts[i].dRel = msg_a['LongDist']
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self.pts[i].yRel = msg_a['LatDist']
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self.pts[i].vRel = msg_a['LongSpeed']
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self.pts[i].aRel = msg_a['LongAccel']
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self.pts[i].yvRel = msg_b['LatSpeed']
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self.pts[i].measured = bool(msg_a['Meas'])
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ret.points = list(self.pts.values())
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self.updated_messages.clear()
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return ret
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