90 lines
2.4 KiB
Python
90 lines
2.4 KiB
Python
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
|