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91 lines
3.4 KiB
91 lines
3.4 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 selfdrive.car.interfaces import RadarInterfaceBase
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from selfdrive.car.chrysler.values import DBC
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RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
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RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
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LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
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NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
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def _create_radar_can_parser(car_fingerprint):
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msg_n = len(RADAR_MSGS_C)
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# list of [(signal name, message name or number, initial values), (...)]
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# [('RADAR_STATE', 1024, 0),
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# ('LONG_DIST', 1072, 255),
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# ('LONG_DIST', 1073, 255),
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# ('LONG_DIST', 1074, 255),
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# ('LONG_DIST', 1075, 255),
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# The factor and offset are applied by the dbc parsing library, so the
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# default values should be after the factor/offset are applied.
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signals = list(zip(['LONG_DIST'] * msg_n +
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['LAT_DIST'] * msg_n +
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['REL_SPEED'] * msg_n,
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RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
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RADAR_MSGS_D, # REL_SPEED
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[0] * msg_n + # LONG_DIST
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[-1000] * msg_n + # LAT_DIST
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[-146.278] * msg_n)) # REL_SPEED set to 0, factor/offset to this
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# TODO what are the checks actually used for?
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# honda only checks the last message,
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# toyota checks all the messages. Which do we want?
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checks = list(zip(RADAR_MSGS_C +
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RADAR_MSGS_D,
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[20]*msg_n + # 20Hz (0.05s)
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[20]*msg_n)) # 20Hz (0.05s)
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return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
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def _address_to_track(address):
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if address in RADAR_MSGS_C:
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return (address - RADAR_MSGS_C[0]) // 2
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if address in RADAR_MSGS_D:
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return (address - RADAR_MSGS_D[0]) // 2
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raise ValueError("radar received unexpected address %d" % address)
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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.rcp = _create_radar_can_parser(CP.carFingerprint)
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self.updated_messages = set()
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self.trigger_msg = LAST_MSG
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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 self.updated_messages: # ii should be the message ID as a number
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cpt = self.rcp.vl[ii]
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trackId = _address_to_track(ii)
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if trackId not in self.pts:
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self.pts[trackId] = car.RadarData.RadarPoint.new_message()
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self.pts[trackId].trackId = trackId
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self.pts[trackId].aRel = float('nan')
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self.pts[trackId].yvRel = float('nan')
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self.pts[trackId].measured = True
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if 'LONG_DIST' in cpt: # c_* message
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self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car
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# our lat_dist is positive to the right in car's frame.
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# TODO what does yRel want?
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self.pts[trackId].yRel = cpt['LAT_DIST'] # in car frame's y axis, left is positive
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else: # d_* message
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self.pts[trackId].vRel = cpt['REL_SPEED']
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# We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
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ret.points = [x for x in self.pts.values() if x.dRel != 0]
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self.updated_messages.clear()
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return ret
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