mawei/openpilot
1
0
Fork 0
mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-10-26 20:43:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

honda: use the deprecated RadarPoint group for aRel/yvRel/measured

Browse Source 
opendbc's RadarPoint keeps aRel, yvRel and measured inside the deprecated group
(the upstream fork had them at the top level), so assigning them raised
'struct has no such member; name = aRel'. Point at the group in the radar
interface and in the tests.
This commit is contained in:
Comma Device
2026-09-16 19:08:15 +08:00
parent 5fbf020db6
commit 8b1868bd52
2 changed files with 16 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/car/honda/radar_interface.py
+9 -9
View File
@@ -501,7 +501,7 @@ class RadarInterface(RadarInterfaceBase):
accepted_fresh = previous_sample is not None and now_s - previous_sample[0] <= BOSCH_A_STALE_S
point = self.pts.get(track_id)
if accepted_fresh and point is not None:
point.measured = False
point.deprecated.measured = False
else:
self.pts.pop(track_id, None)
track.prev_frame_idx = idx0
@@ -526,7 +526,7 @@ class RadarInterface(RadarInterfaceBase):
point.dRel = dRel
point.yRel = yRel
point.vRel = track.last_trusted_vrel
point.measured = False
point.deprecated.measured = False
else:
track.last_trusted_vrel = None
track.last_trusted_vrel_nanos = None
@@ -563,7 +563,7 @@ class RadarInterface(RadarInterfaceBase):
point.dRel = dRel
point.yRel = yRel
point.vRel = track.last_trusted_vrel
point.measured = False
point.deprecated.measured = False
else:
track.last_trusted_vrel = None
track.last_trusted_vrel_nanos = None
@@ -601,14 +601,14 @@ class RadarInterface(RadarInterfaceBase):
if matured and track_id not in self.pts:
self.pts[track_id] = structs.RadarData.RadarPoint()
self.pts[track_id].trackId = track_id
self.pts[track_id].aRel = float('nan')
self.pts[track_id].yvRel = float('nan')
self.pts[track_id].deprecated.aRel = float('nan')
self.pts[track_id].deprecated.yvRel = float('nan')
if matured:
self.pts[track_id].dRel = dRel
self.pts[track_id].yRel = yRel
self.pts[track_id].vRel = vRel
self.pts[track_id].measured = True
self.pts[track_id].deprecated.measured = True
else:
self.pts.pop(track_id, None)
@@ -641,9 +641,9 @@ class RadarInterface(RadarInterfaceBase):
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
self.pts[ii].vRel = cpt['REL_SPEED']
self.pts[ii].aRel = float('nan')
self.pts[ii].yvRel = float('nan')
self.pts[ii].measured = True
self.pts[ii].deprecated.aRel = float('nan')
self.pts[ii].deprecated.yvRel = float('nan')
self.pts[ii].deprecated.measured = True
else:
if ii in self.pts:
del self.pts[ii]
opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
+7 -7
View File
@@ -603,7 +603,7 @@ class TestVrel:
assert len(rr.points) == 1
assert rr.points[0].dRel == pytest.approx(1705 * BOSCH_A_RANGE_SCALE_M - 3.0)
assert rr.points[0].vRel == pytest.approx(-2.625)
assert not rr.points[0].measured
assert not rr.points[0].deprecated.measured
assert len(ri._tracks[1].samples) == 2
def test_qualified_u11_recovers_immediately_after_high_u10_coast(self):
@@ -617,7 +617,7 @@ class TestVrel:
rr = ri.update(sweep(0, 3, 0x7, 980, 1024, 7, 150_000_000, with_aux=True,
direct_vrel_raw=760, direct_vrel_uncertainty_raw=84))
assert rr.points[0].vRel == pytest.approx((760 - 864) / 64.0)
assert rr.points[0].measured
assert rr.points[0].deprecated.measured
assert ri._tracks[1].last_trusted_vrel == pytest.approx((760 - 864) / 64.0)
def test_high_u10_coast_cannot_cross_lifecycle_incarnation(self):
@@ -724,7 +724,7 @@ class TestVrel:
range_sigma_raw=4, existence_raw=0))
assert len(rr.points) == 1
assert rr.points[0].dRel == pytest.approx(accepted_drel)
assert rr.points[0].measured is False
assert rr.points[0].deprecated.measured is False
assert len(ri._tracks[1].samples) == 2
def test_exact_peter_reset_sequence_never_rebases_on_rejected_ranges(self):
@@ -769,7 +769,7 @@ class TestFallbackNeverPublishes:
direct_vrel_raw=864, direct_vrel_uncertainty_raw=0))
rr = ri.update(sweep(0, 1, 0x7, 1000, 1024, 3, 50_000_000, with_aux=True,
direct_vrel_raw=864, direct_vrel_uncertainty_raw=0))
assert rr.points[0].measured is True
assert rr.points[0].deprecated.measured is True
assert rr.points[0].vRel == pytest.approx(0.0)
# Third sweep: U11 sentinel (unavailable), ratio invalid, and a range jump that -- via the raw
@@ -783,7 +783,7 @@ class TestFallbackNeverPublishes:
assert implied_fallback_vrel == pytest.approx(-17.136) # confirms the setup would poison, if reached
assert abs(implied_fallback_vrel) < BOSCH_A_FALLBACK_RANGE_RATE_MAX_MPS # and clears range_rejected
assert len(rr.points) == 1
assert rr.points[0].measured is False
assert rr.points[0].deprecated.measured is False
assert rr.points[0].vRel == pytest.approx(0.0) # coasted trusted value, not the -17 m/s derivative
# The KF-facing measurement update never happened: last_trusted_vrel/age is untouched by this cycle.
assert ri._tracks[1].last_trusted_vrel == pytest.approx(0.0)
@@ -815,7 +815,7 @@ class TestFallbackNeverPublishes:
residual = abs(d - d * ratio)
assert residual < 2.0 # clears innovation checking regardless of degraded status
assert len(rr.points) == 1
assert rr.points[0].measured is True
assert rr.points[0].deprecated.measured is True
expected = d * (1.0 - ratio) / 0.05
assert rr.points[0].vRel == pytest.approx(expected)
@@ -860,7 +860,7 @@ class TestAuxiliary:
rr = ri.update(sweep(0, 2, 0x7, 1000, 1024, 5, 100_000_000, with_aux=False))
assert len(rr.points) == 1
assert rr.points[0].vRel == pytest.approx(0.0)
assert rr.points[0].measured is False
assert rr.points[0].deprecated.measured is False
def test_aux_param_invalid_sentinel(self):
ri = make_radar_interface()