IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/car/tesla/radar_interface.py

@@ -0,0 +1,89 @@
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, structs
+from iqdbc.car.interfaces import RadarInterfaceBase
+from iqdbc.car.tesla.values import DBC
+
+RADAR_START_ADDR = 0x410
+RADAR_MSG_COUNT = 80  # 40 points * 2 messages each
+
+
+def get_radar_can_parser(CP):
+  if Bus.radar not in DBC[CP.carFingerprint]:
+    return None
+
+  messages = [('RadarStatus', 16)]
+  for i in range(RADAR_MSG_COUNT // 2):
+    messages.extend([
+      (f'RadarPoint{i}_A', 16),
+      (f'RadarPoint{i}_B', 16),
+    ])
+
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP, CP_IQ):
+    super().__init__(CP, CP_IQ)
+    self.updated_messages = set()
+    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
+    self.track_id = 0
+
+    self.radar_off_can = CP.radarUnavailable
+    self.rcp = get_radar_can_parser(CP)
+
+  def update(self, can_strings):
+    if self.radar_off_can or self.rcp is None:
+      return super().update(None)
+
+    vls = self.rcp.update(can_strings)
+    self.updated_messages.update(vls)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    rr = self._update(self.updated_messages)
+    self.updated_messages.clear()
+
+    return rr
+
+  def _update(self, updated_messages):
+    ret = structs.RadarData()
+    if self.rcp is None:
+      return ret
+
+    if not self.rcp.can_valid:
+      ret.errors.canError = True
+
+    radar_status = self.rcp.vl['RadarStatus']
+    if radar_status['shortTermUnavailable']:
+      ret.errors.radarUnavailableTemporary = True
+    if radar_status['sensorBlocked'] or radar_status['vehDynamicsError']:
+      ret.errors.radarFault = True
+
+    for i in range(RADAR_MSG_COUNT // 2):
+      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
+      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
+
+      # Make sure msg A and B are together
+      if msg_a['Index'] != msg_b['Index2']:
+        continue
+
+      if not msg_a['Tracked']:
+        if i in self.pts:
+          del self.pts[i]
+        continue
+
+      if i not in self.pts:
+        self.pts[i] = structs.RadarData.RadarPoint()
+        self.pts[i].trackId = self.track_id
+        self.track_id += 1
+
+      self.pts[i].dRel = msg_a['LongDist']
+      self.pts[i].yRel = msg_a['LatDist']
+      self.pts[i].vRel = msg_a['LongSpeed']
+      self.pts[i].aRel = msg_a['LongAccel']
+      self.pts[i].yvRel = msg_b['LatSpeed']
+      self.pts[i].measured = bool(msg_a['Meas'])
+
+    ret.points = list(self.pts.values())
+    return ret