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72 lines
2.4 KiB
72 lines
2.4 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.ford.values import DBC
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from selfdrive.config import Conversions as CV
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from selfdrive.car.interfaces import RadarInterfaceBase
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RADAR_MSGS = list(range(0x500, 0x540))
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def _create_radar_can_parser(car_fingerprint):
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msg_n = len(RADAR_MSGS)
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signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
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RADAR_MSGS * 3,
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[0] * msg_n + [0] * msg_n + [0] * msg_n))
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checks = list(zip(RADAR_MSGS, [20]*msg_n))
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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.validCnt = {key: 0 for key in RADAR_MSGS}
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self.track_id = 0
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self.rcp = _create_radar_can_parser(CP.carFingerprint)
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self.trigger_msg = 0x53f
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self.updated_messages = set()
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def update(self, can_strings):
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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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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(self.updated_messages):
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cpt = self.rcp.vl[ii]
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if cpt['X_Rel'] > 0.00001:
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self.validCnt[ii] = 0 # reset counter
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if cpt['X_Rel'] > 0.00001:
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self.validCnt[ii] += 1
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else:
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self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
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#print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
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# radar point only valid if there have been enough valid measurements
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if self.validCnt[ii] > 0:
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if ii not in self.pts:
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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['X_Rel'] # from front of car
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self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD # in car frame's y axis, left is positive
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self.pts[ii].vRel = cpt['V_Rel']
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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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ret.points = list(self.pts.values())
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self.updated_messages.clear()
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return ret
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