Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fixup ford radar #1408

Closed
wants to merge 16 commits into from
Closed

Fixup ford radar #1408

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
16 commits
Select commit Hold shift + click to select a range
889ff0e
not used
sshane Oct 23, 2024
e845356
Merge remote-tracking branch 'upstream/master' into deprecate-radarts
sshane Oct 23, 2024
091313e
more
sshane Oct 23, 2024
9f4b520
some debugging
sshane Oct 23, 2024
c29a30c
Merge remote-tracking branch 'upstream/master' into fixup-ford-radar
sshane Oct 23, 2024
cbfde49
yep, it's always 65 now too!
sshane Oct 23, 2024
69b3c3a
also never fails
sshane Oct 23, 2024
df6edf9
sweet
sshane Oct 23, 2024
2685938
debug
sshane Oct 24, 2024
056bfbc
Merge remote-tracking branch 'upstream/master' into fixup-ford-radar
sshane Oct 24, 2024
b71e8ba
possible
sshane Oct 24, 2024
f210b35
Merge remote-tracking branch 'upstream/master' into fixup-ford-radar
sshane Oct 24, 2024
8fc05fd
this one is more correct, and now its values match properly
sshane Oct 24, 2024
5ccf294
debug
sshane Oct 24, 2024
6b31bbf
Merge remote-tracking branch 'upstream/master' into fixup-ford-radar
sshane Oct 24, 2024
0a6bfe2
Merge remote-tracking branch 'upstream/master' into fixup-ford-radar
sshane Oct 24, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion opendbc/car/ford/interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
ret.carName = "ford"
ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)

ret.radarUnavailable = True
ret.radarUnavailable = False
ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
Expand Down
22 changes: 19 additions & 3 deletions opendbc/car/ford/radar_interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
msg = f"MRR_Detection_{i:03d}"
messages += [(msg, 33)]

return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
return CANParser(RADAR.DELPHI_MRR, messages + [('MRR_Header_InformationDetections', 33)], CanBus(CP).radar)


class RadarInterface(RadarInterfaceBase):
Expand All @@ -45,6 +45,7 @@ def __init__(self, CP):
elif self.radar == RADAR.DELPHI_MRR:
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
print('trigger_msg:', self.trigger_msg)
else:
raise ValueError(f"Unsupported radar: {self.radar}")

Expand All @@ -55,7 +56,9 @@ def update(self, can_strings):
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)

if self.trigger_msg not in self.updated_messages:
# print('updated_messages:', self.updated_messages)
# if self.trigger_msg not in self.updated_messages:
if 368 not in self.updated_messages:
Copy link
Contributor Author

@sshane sshane Oct 23, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

All track message's LSB scan index signals always match the header counter's 2 LSB when waiting for it now, before it would usually have a few messages that mismatched every cycle (so we should have waited a bit longer for the header message to have the most up to date detection/track messages)

return None

ret = structs.RadarData()
Expand All @@ -68,6 +71,10 @@ def update(self, can_strings):
self._update_delphi_esr()
elif self.radar == RADAR.DELPHI_MRR:
self._update_delphi_mrr()
print('pts', len(self.pts), self.rcp.vl['MRR_Header_InformationDetections']['CAN_NUMBER_OF_DET'])
Copy link
Contributor Author

@sshane sshane Oct 23, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

CAN_NUMBER_OF_DET was always lower by 3-6 times from our number of points, now they match exactly!

It was originally thought that CAN_SCAN_INDEX_2LSB_xx was a sort of multiplexing signal, but it makes more sense that along with the header message it's used to ensure that the latest updates are kept up to sync.

Will have to look into the flickering that was noticed in the original PR (commaai/openpilot#24296) though, perhaps some more robust track switching logic is needed, or maybe it's not a problem since Harald added it after the original PR.

if len(self.pts) != self.rcp.vl['MRR_Header_InformationDetections']['CAN_NUMBER_OF_DET']:
print('mismatch!')
# raise Exception

ret.points = list(self.pts.values())
self.updated_messages.clear()
Expand Down Expand Up @@ -103,13 +110,22 @@ def _update_delphi_esr(self):
del self.pts[ii]

def _update_delphi_mrr(self):
print()
header = self.rcp.vl['MRR_Header_InformationDetections']
scan_index = header['CAN_SCAN_INDEX']
# print('scan_index', int(scan_index) & 0b11, scan_index)

for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]

# SCAN_INDEX rotates through 0..3 on each message
# treat these as separate points
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
i = (ii - 1) * 4 + scanIndex
i = ii # (ii - 1) * 4 + scanIndex
# print('pt scanIndex', scanIndex)
if scanIndex != int(scan_index) & 0b11:
print('doesn\'t match!', scanIndex, int(scan_index) & 0b11, scan_index)
# raise Exception

if i not in self.pts:
self.pts[i] = structs.RadarData.RadarPoint()
Expand Down
Loading