GM: disengage on radar fault (#396)

* GM: copy cadillac's radar header DBC

* Remove unused interface imports

* Rename num targets message to radar header

* Catch various radar faults

old-commit-hash: 3d05cca678

selfdrive/car/gm/radar_interface.py

@@ -11,13 +11,13 @@ from common.realtime import sec_since_boot
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging
 
-NUM_TARGETS_MSG = 1120
-SLOT_1_MSG = NUM_TARGETS_MSG + 1
+RADAR_HEADER_MSG = 1120
+SLOT_1_MSG = RADAR_HEADER_MSG + 1
 NUM_SLOTS = 20
 
 # Actually it's 0x47f, but can parser only reports
 # messages that are present in DBC
-LAST_RADAR_MSG = NUM_TARGETS_MSG + NUM_SLOTS
+LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
 def create_radard_can_parser(canbus, car_fingerprint):
 
@@ -25,12 +25,16 @@ def create_radard_can_parser(canbus, car_fingerprint):
   if car_fingerprint == CAR.VOLT:
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
-    signals = zip(['LRRNumObjects'] +
+    signals = zip(['FLRRNumValidTargets',
+                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
                   ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
                   ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
                   ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [NUM_TARGETS_MSG] + radar_targets * 6,
-                  [0] + [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                  [0] * 7 +
+                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                   [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                   [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)
 
@@ -44,8 +48,6 @@ class RadarInterface(object):
   def __init__(self, CP):
     # radar
     self.pts = {}
-    self.track_id = 0
-    self.num_targets = 0
 
     self.delay = 0.0  # Delay of radar
 
@@ -70,22 +72,27 @@ class RadarInterface(object):
       if LAST_RADAR_MSG in updated_messages:
         break
 
+    header = self.rcp.vl[RADAR_HEADER_MSG]
+    fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
+      header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
+      header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
     errors = []
     if not self.rcp.can_valid:
-      errors.append("notValid")
+      errors.append("commIssue")
+    if fault:
+      errors.append("fault")
     ret.errors = errors
 
     currentTargets = set()
-    if self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects'] != self.num_targets:
-      self.num_targets = self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects']
+    num_targets = header['FLRRNumValidTargets']
 
     # Not all radar messages describe targets,
-    # no need to monitor all of the sself.rcp.msgs_upd
+    # no need to monitor all of the self.rcp.msgs_upd
     for ii in updated_messages:
-      if ii == NUM_TARGETS_MSG:
+      if ii == RADAR_HEADER_MSG:
         continue
 
-      if self.num_targets == 0:
+      if num_targets == 0:
         break
 
       cpt = self.rcp.vl[ii]