Release 260111

opendbc_repo/opendbc/car/rivian/radar_interface.py

@@ -0,0 +1,71 @@
+import math
+
+from opendbc.can import CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.interfaces import RadarInterfaceBase
+from opendbc.car.rivian.values import DBC
+
+RADAR_START_ADDR = 0x500
+RADAR_MSG_COUNT = 32
+
+def get_radar_can_parser(CP):
+  messages = [(f"RADAR_TRACK_{addr:x}", 20) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    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
+
+    for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
+      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
+
+      if addr not in self.pts:
+        self.pts[addr] = structs.RadarData.RadarPoint()
+        self.pts[addr].trackId = self.track_id
+        self.track_id += 1
+
+      valid = msg['STATE'] in (3, 4) and msg['STATE_2'] == 1
+      if valid:
+        azimuth = math.radians(msg['AZIMUTH'])
+        self.pts[addr].measured = True
+        self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
+        self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
+        self.pts[addr].vRel = msg['REL_SPEED']
+        self.pts[addr].aRel = float('nan')
+        self.pts[addr].yvRel = 0 #float('nan')
+
+      else:
+        del self.pts[addr]
+
+    ret.points = list(self.pts.values())
+    return ret