mirror of
https://github.com/firestar5683/StarPilot.git
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Kacper Rączy
4017b1707c
* radard: tie radard frequency to modelV2 Accumulate parsed messages until state is updated (toyota) Same for honda Rename rr to something more descriptive * Change _update method name, since signature has changed * Update ref commit * Some renames * Check for number of cans old-commit-hash: 460f5c8e0b2fd2c420e211b09b70d1d79834a929
139 lines
4.6 KiB
Python
139 lines
4.6 KiB
Python
#!/usr/bin/env python3
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from math import cos, sin
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from cereal import car
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from opendbc.can.parser import CANParser
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from common.conversions import Conversions as CV
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from selfdrive.car.ford.fordcan import CanBus
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from selfdrive.car.ford.values import DBC, RADAR
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from selfdrive.car.interfaces import RadarInterfaceBase
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DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
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DELPHI_MRR_RADAR_START_ADDR = 0x120
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DELPHI_MRR_RADAR_MSG_COUNT = 64
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def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
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msg_n = len(DELPHI_ESR_RADAR_MSGS)
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messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
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return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
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def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
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messages = []
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for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
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msg = f"MRR_Detection_{i:03d}"
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messages += [(msg, 20)]
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return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
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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 = DBC[CP.carFingerprint]['radar']
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if self.radar is None or CP.radarUnavailable:
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self.rcp = None
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elif self.radar == RADAR.DELPHI_ESR:
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self.rcp = _create_delphi_esr_radar_can_parser(CP)
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self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
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self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
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elif self.radar == RADAR.DELPHI_MRR:
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self.rcp = _create_delphi_mrr_radar_can_parser(CP)
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self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
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else:
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raise ValueError(f"Unsupported radar: {self.radar}")
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def update(self, can_strings):
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if self.rcp is None:
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return 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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if self.trigger_msg not in self.updated_messages:
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return None
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ret = car.RadarData.new_message()
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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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if self.radar == RADAR.DELPHI_ESR:
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self._update_delphi_esr()
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elif self.radar == RADAR.DELPHI_MRR:
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self._update_delphi_mrr()
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ret.points = list(self.pts.values())
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self.updated_messages.clear()
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return ret
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def _update_delphi_esr(self):
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for ii in sorted(self.updated_messages):
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cpt = self.rcp.vl[ii]
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if cpt['X_Rel'] > 0.00001:
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self.valid_cnt[ii] = 0 # reset counter
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if cpt['X_Rel'] > 0.00001:
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self.valid_cnt[ii] += 1
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else:
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self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
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#print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
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# radar point only valid if there have been enough valid measurements
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if self.valid_cnt[ii] > 0:
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if ii not in self.pts:
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self.pts[ii] = car.RadarData.RadarPoint.new_message()
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self.pts[ii].trackId = self.track_id
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self.track_id += 1
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self.pts[ii].dRel = cpt['X_Rel'] # from front of car
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self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD # in car frame's y axis, left is positive
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self.pts[ii].vRel = cpt['V_Rel']
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self.pts[ii].aRel = float('nan')
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self.pts[ii].yvRel = float('nan')
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self.pts[ii].measured = True
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else:
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if ii in self.pts:
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del self.pts[ii]
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def _update_delphi_mrr(self):
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for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
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msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
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# SCAN_INDEX rotates through 0..3 on each message
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# treat these as separate points
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scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
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i = (ii - 1) * 4 + scanIndex
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if i not in self.pts:
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self.pts[i] = car.RadarData.RadarPoint.new_message()
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self.pts[i].trackId = self.track_id
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self.pts[i].aRel = float('nan')
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self.pts[i].yvRel = float('nan')
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self.track_id += 1
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valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
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amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"] # dBsm [-64|63]
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if valid and 0 < amplitude <= 15:
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azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964]
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dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984]
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distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984]
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# *** openpilot radar point ***
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self.pts[i].dRel = cos(azimuth) * dist # m from front of car
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self.pts[i].yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive
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self.pts[i].vRel = distRate # m/s
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self.pts[i].measured = True
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else:
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del self.pts[i]
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