openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/tesla/radar_interface.py

@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+from cereal import car
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+
+RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
+RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
+NUM_POINTS = len(RADAR_MSGS_A)
+
+def get_radar_can_parser(CP):
+  # Status messages
+  messages = [
+    ('TeslaRadarSguInfo', 10),
+  ]
+
+  # Radar tracks. There are also raw point clouds available,
+  # we don't use those.
+  for i in range(NUM_POINTS):
+    msg_id_a = RADAR_MSGS_A[i]
+    msg_id_b = RADAR_MSGS_B[i]
+    messages.extend([
+      (msg_id_a, 8),
+      (msg_id_b, 8),
+    ])
+
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.rcp = get_radar_can_parser(CP)
+    self.updated_messages = set()
+    self.track_id = 0
+    self.trigger_msg = RADAR_MSGS_B[-1]
+
+  def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
+    values = self.rcp.update_strings(can_strings)
+    self.updated_messages.update(values)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    ret = car.RadarData.new_message()
+
+    # Errors
+    errors = []
+    sgu_info = self.rcp.vl['TeslaRadarSguInfo']
+    if not self.rcp.can_valid:
+      errors.append('canError')
+    if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
+      errors.append('fault')
+    ret.errors = errors
+
+    # Radar tracks
+    for i in range(NUM_POINTS):
+      msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
+      msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
+
+      # Make sure msg A and B are together
+      if msg_a['Index'] != msg_b['Index2']:
+        continue
+
+      # Check if it's a valid track
+      if not msg_a['Tracked']:
+        if i in self.pts:
+          del self.pts[i]
+        continue
+
+      # New track!
+      if i not in self.pts:
+        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i].trackId = self.track_id
+        self.track_id += 1
+
+      # Parse track data
+      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())
+    self.updated_messages.clear()
+    return ret