openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/honda/radar_interface.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+from cereal import car
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.honda.values import DBC
+
+
+def _create_nidec_can_parser(car_fingerprint):
+  radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
+  messages = [(m, 20) for m in radar_messages]
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.track_id = 0
+    self.radar_fault = False
+    self.radar_wrong_config = False
+    self.radar_off_can = CP.radarUnavailable
+    self.radar_ts = CP.radarTimeStep
+
+    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
+
+    # Nidec
+    if self.radar_off_can:
+      self.rcp = None
+    else:
+      self.rcp = _create_nidec_can_parser(CP.carFingerprint)
+    self.trigger_msg = 0x445
+    self.updated_messages = set()
+
+  def update(self, can_strings):
+    # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
+    # radard at 20Hz and return no points
+    if self.radar_off_can:
+      return super().update(None)
+
+    vls = self.rcp.update_strings(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 = car.RadarData.new_message()
+
+    for ii in sorted(updated_messages):
+      cpt = self.rcp.vl[ii]
+      if ii == 0x400:
+        # check for radar faults
+        self.radar_fault = cpt['RADAR_STATE'] != 0x79
+        self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
+      elif cpt['LONG_DIST'] < 255:
+        if ii not in self.pts or cpt['NEW_TRACK']:
+          self.pts[ii] = car.RadarData.RadarPoint.new_message()
+          self.pts[ii].trackId = self.track_id
+          self.track_id += 1
+        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
+      else:
+        if ii in self.pts:
+          del self.pts[ii]
+
+    errors = []
+    if not self.rcp.can_valid:
+      errors.append("canError")
+    if self.radar_fault:
+      errors.append("fault")
+    if self.radar_wrong_config:
+      errors.append("wrongConfig")
+    ret.errors = errors
+
+    ret.points = list(self.pts.values())
+
+    return ret