meb

opendbc_repo/opendbc/car/interfaces.py

@@ -109,6 +109,7 @@ class RadarInterfaceBase(ABC):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
+    self.track_id: int = 0
     self.frame = 0
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:

opendbc_repo/opendbc/car/volkswagen/mqbcan.py

@@ -243,6 +243,8 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
             0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02],  # EA_02
     0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33,
             0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F],  # EML_06
+    0x25D: [0xDA, 0x6B, 0x0E, 0xB2, 0x78, 0xBD, 0x5A, 0x81,
+            0x7B, 0xD6, 0x41, 0x39, 0x76, 0xB6, 0xD7, 0x35],  # KLR_01
     0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76,
             0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51],  # TA_01
     0x30C: [0x0F] * 16,  # ACC_02

opendbc_repo/opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -1,10 +1,16 @@
 import random
 import re
 
+import pytest
+
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.interface import CarInterface
-from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
+from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum
+from opendbc.car.volkswagen.radar_interface import RadarInterface
+from opendbc.car.volkswagen.values import CAR, DBC, FW_QUERY_CONFIG, WMI, CanBus, VolkswagenFlags, VolkswagenSafetyFlags
 
 Ecu = CarParams.Ecu
 
@@ -60,6 +66,35 @@ class TestVolkswagenPlatformConfigs:
     assert not cp.pcmCruise
     assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL
 
+  @pytest.mark.parametrize("data_hex", (
+    "fc03fcfcfc0f0000",
+    "e304fcfcfc0f0000",
+    "1105fcfcfc0f0000",
+  ))
+  def test_meb_klr_checksum(self, data_hex):
+    data = bytearray.fromhex(data_hex)
+    assert volkswagen_mqb_meb_checksum(0x25D, None, data) == data[0]
+
+  def test_meb_camera_radar_tracks(self):
+    cp = self._get_meb_params(CAR.SKODA_ENYAQ_MK1)
+    radar = RadarInterface(cp)
+    packer = CANPacker(DBC[cp.carFingerprint][Bus.radar])
+    message = packer.make_can_msg("MEB_Distance_01", CanBus(cp).cam, {
+      "Distance_Status": 0,
+      "Same_Lane_01_ObjectID": 1,
+      "Same_Lane_01_Long_Distance": 25.0,
+      "Same_Lane_01_Lat_Distance": 0.5,
+      "Same_Lane_01_Rel_Velo": -2.0,
+    })
+
+    radar_data = radar.update([(1_000_000_000, [message])])
+    assert radar_data is not None
+    assert len(radar_data.points) == 1
+    assert radar_data.points[0].trackId == 0
+    assert radar_data.points[0].dRel == pytest.approx(25.0, abs=0.1)
+    assert radar_data.points[0].yRel == pytest.approx(0.5, abs=0.1)
+    assert radar_data.points[0].vRel == pytest.approx(-2.0, abs=0.1)
+
   def test_taos_longitudinal_actuator_delay(self):
     taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
     golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)