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