clearpilot: initial commit of full source

selfdrive/car/tesla/radar_interface.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+from cereal import car
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.CP = CP
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages = [('RadarStatus', 16)]
+      self.num_points = 40
+      self.trigger_msg = 1119
+    else:
+      messages = [('TeslaRadarSguInfo', 10)]
+      self.num_points = 32
+      self.trigger_msg = 878
+
+    for i in range(self.num_points):
+      messages.extend([
+        (f'RadarPoint{i}_A', 16),
+        (f'RadarPoint{i}_B', 16),
+      ])
+
+    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
+    self.updated_messages = set()
+    self.track_id = 0
+
+  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 = []
+    if not self.rcp.can_valid:
+      errors.append('canError')
+
+    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+      radar_status = self.rcp.vl['RadarStatus']
+      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
+        errors.append('fault')
+    else:
+      radar_status = self.rcp.vl['TeslaRadarSguInfo']
+      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
+        errors.append('fault')
+
+    ret.errors = errors
+
+    # Radar tracks
+    for i in range(self.num_points):
+      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
+
+      # 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