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try to fix parser error

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This commit is contained in:
ryley
2022-04-26 18:30:18 -05:00
parent ec530ebb70
commit 986e75dea0
4 changed files with 54 additions and 79 deletions
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opendbc/mazda_2017.dbc
+2 -2
View File
@@ -541,7 +541,7 @@ BO_ 865 RADAR_361: 8 XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 870 RADAR_366: 8 XXX
BO_ 866 RADAR_362: 8 XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
@@ -561,7 +561,7 @@ BO_ 869 RADAR_365: 8 XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 866 RADAR_362: 8 XXX
BO_ 870 RADAR_366: 8 XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
opendbc/mazda_radar.dbc
+18 -38
View File
@@ -63,53 +63,33 @@ BO_ 539 CRZ_INFO: 8 XXX
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 865 RADAR_TRACK_361: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|31] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|255] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|3] "" XXX
SG_ SPEED_INVERSE : 43|12@0- (-0.225,0) [0|255] "kph" XXX
SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 866 RADAR_TRACK_362: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|255] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|3] "" XXX
SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|7] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 867 RADAR_TRACK_363: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 868 RADAR_TRACK_364: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 869 RADAR_TRACK_365: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 870 RADAR_TRACK_366: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX
BO_ 1177 RADAR_499: 8 XXX
selfdrive/car/mazda/mazdacan.py
+3 -3
View File
@@ -192,9 +192,9 @@ def create_radar_command(packer, car_fingerprint, frame, c, CS):
addr_name = f"RADAR_{addr}"
msg = CS.cp_cam.vl[addr_name]
values = {
"MSGS" : int(msg["MSGS"]),
"MSGS" : int(msg["MSGS"]),
"CTR" : int(msg["CTR"])
"MSGS_1" : int(msg["MSGS_1"]),
"MSGS_2" : int(msg["MSGS_2"]),
"CTR" : int(msg["CTR"])
}
ret.append(packer.make_can_msg(addr_name, 0, values))
selfdrive/car/mazda/radar_interface.py
+31 -36
View File
@@ -7,13 +7,13 @@ from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.mazda.values import DBC
def get_radar_can_parser(CP):
#if DBC[CP.carFingerprint]['radar'] is None:
# return None
if DBC[CP.carFingerprint]['radar'] is None:
return None
signals = []
checks = []
for addr in range(361,367):
msg = f"RADAR_{addr}"
msg = f"RADAR_TRACK_{addr}"
signals += [
("ANG_OBJ", msg),
("DIST_OBJ", msg),
@@ -32,9 +32,9 @@ class RadarInterface(RadarInterfaceBase):
self.rcp = get_radar_can_parser(CP)
def update(self, can_strings):
#if self.radar_off_can or (self.rcp is None):
#print(self.radar_off_can)
#return super().update(None)
if self.radar_off_can or (self.rcp is None):
print(self.radar_off_can)
return super().update(None)
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)
rr = self._update(self.updated_messages)
@@ -42,35 +42,30 @@ class RadarInterface(RadarInterfaceBase):
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']/64
self.pts[addr].aRel = float('nan')
self.pts[addr].yvRel = float('nan')
else:
del self.pts[addr]
ret.points = list(self.pts.values())
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']/64
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