Mazda RadarInterface

selfdrive/car/mazda/radar_interface.py

@@ -1,5 +1,63 @@
 #!/usr/bin/env python3
+import math
+
+from cereal import car
+from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.mazda.values import DBC, MazdaFlags
+
+def get_radar_can_parser(CP):
+  if DBC[CP.carFingerprint]['radar'] is None:
+    return None
+  if not CP.flags & MazdaFlags.RADAR_INTERCEPTOR:
+    return None
+
+  messages = [(f"RADAR_TRACK_{addr}", 10) for addr in range(361,367)]
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, 2)
 
 class RadarInterface(RadarInterfaceBase):
-  pass
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.updated_messages = set()
+    self.track_id = 0
+
+    self.radar_off_can = CP.radarUnavailable
+    self.rcp = get_radar_can_parser(CP)
+
+  def update(self, can_strings):
+    if self.radar_off_can or (self.rcp is None):
+      return super().update(None)
+    vls = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(vls)
+    rr = self._update(self.updated_messages)
+    self.updated_messages.clear()
+
+    return rr
+
+  def _update(self, updated_messages):
+    ret = car.RadarData.new_message()
+    if self.rcp is None:
+      return ret
+    errors = []
+    if not self.rcp.can_valid:
+      errors.append("canError")
+    ret.errors = errors
+    for addr in range(361,367):
+      msg = self.rcp.vl[f"RADAR_TRACK_{addr}"]
+      if addr not in self.pts:
+        self.pts[addr] = car.RadarData.RadarPoint.new_message()
+        self.pts[addr].trackId = self.track_id
+        self.track_id += 1
+      valid = (msg['DIST_OBJ'] != 4095) and (msg['ANG_OBJ'] != 2046) and (msg['RELV_OBJ'] != -16)
+      if valid:
+        azimuth = math.radians(msg['ANG_OBJ']/64)
+        self.pts[addr].measured = True
+        self.pts[addr].dRel = msg['DIST_OBJ']/16
+        self.pts[addr].yRel = -math.sin(azimuth) * msg['DIST_OBJ']/16
+        self.pts[addr].vRel = msg['RELV_OBJ']/16
+        self.pts[addr].aRel = float('nan')
+        self.pts[addr].yvRel = float('nan')
+      else:
+        del self.pts[addr]
+    ret.points = list(self.pts.values())
+    return ret