Source code for selfdrive.car.toyota.radar_interface

#!/usr/bin/env python3
from opendbc.can.parser import CANParser
from cereal import car
from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase


def _create_radar_can_parser(car_fingerprint):
  if car_fingerprint in TSS2_CAR:
    RADAR_A_MSGS = list(range(0x180, 0x190))
    RADAR_B_MSGS = list(range(0x190, 0x1a0))
  else:
    RADAR_A_MSGS = list(range(0x210, 0x220))
    RADAR_B_MSGS = list(range(0x220, 0x230))

  msg_a_n = len(RADAR_A_MSGS)
  msg_b_n = len(RADAR_B_MSGS)
  messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True))

  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)

[docs] class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) self.track_id = 0 self.radar_ts = CP.radarTimeStep if CP.carFingerprint in TSS2_CAR: self.RADAR_A_MSGS = list(range(0x180, 0x190)) self.RADAR_B_MSGS = list(range(0x190, 0x1a0)) else: self.RADAR_A_MSGS = list(range(0x210, 0x220)) self.RADAR_B_MSGS = list(range(0x220, 0x230)) self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS} self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint) self.trigger_msg = self.RADAR_B_MSGS[-1] self.updated_messages = set()
[docs] def update(self, can_strings): if self.rcp is None: 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() errors = [] if not self.rcp.can_valid: errors.append("canError") ret.errors = errors for ii in sorted(updated_messages): if ii in self.RADAR_A_MSGS: cpt = self.rcp.vl[ii] if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']: self.valid_cnt[ii] = 0 # reset counter if cpt['VALID'] and cpt['LONG_DIST'] < 255: self.valid_cnt[ii] += 1 else: self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) score = self.rcp.vl[ii+16]['SCORE'] # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST'] # radar point only valid if it's a valid measurement and score is above 50 if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): 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 = bool(cpt['VALID']) else: if ii in self.pts: del self.pts[ii] ret.points = list(self.pts.values()) return ret