Update radar_interface.py

added acadia info
commaai · Aug 28, 2018 · 8cfb5e3 · rbiasini · Aug 28, 2018 · 8cfb5e3
1 parent 33a9a0c
commit 8cfb5e3
Showing 1 changed file with 16 additions and 0 deletions.
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
@@ -36,6 +36,22 @@ def create_radard_can_parser(canbus, car_fingerprint):
 
     checks = []
 
+    return CANParser(dbc_f, signals, checks, canbus.obstacle)
+
+  if car_fingerprint == CAR.ACADIA_DENALI:
+    # C1A-ARS3-A by Continental
+    radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
+    signals = zip(['LRRNumObjects'] +
+                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
+                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
+                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
+                  [NUM_TARGETS_MSG] + radar_targets * 6,
+                  [0] + [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)
+
+    checks = []
+
     return CANParser(dbc_f, signals, checks, canbus.obstacle)
   else:
     return None