#!/usr/bin/env python
import os
import zmq
import time
from selfdrive.can.parser import CANParser
from cereal import car
from common.realtime import sec_since_boot
from selfdrive.services import service_list
import selfdrive.messaging as messaging
from selfdrive.car.toyota.values import NO_DSU_CAR


RADAR_A_MSGS = list(range(0x210, 0x220))
RADAR_B_MSGS = list(range(0x220, 0x230))

def _create_radard_can_parser():
  dbc_f = 'toyota_prius_2017_adas.dbc'

  msg_a_n = len(RADAR_A_MSGS)
  msg_b_n = len(RADAR_B_MSGS)

  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)

  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))

  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)


class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
    self.seen_valid = {key: False for key in RADAR_A_MSGS}
    self.track_id = 0

    self.delay = 0.0  # Delay of radar

    self.rcp = _create_radard_can_parser()
    self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR

    context = zmq.Context()
    self.logcan = messaging.sub_sock(context, service_list['can'].port)

  def update(self):

    ret = car.RadarState.new_message()
    if self.no_dsu_car:
      # TODO: make a adas dbc file for dsu-less models
      time.sleep(0.05)
      return ret

    canMonoTimes = []
    updated_messages = set()
    while 1:
      tm = int(sec_since_boot() * 1e9)
      updated_messages.update(self.rcp.update(tm, True))
      # TODO: do not hardcode last msg
      if 0x22f in updated_messages:
        break

    errors = []
    if not self.rcp.can_valid:
      errors.append("commIssue")
    ret.errors = errors
    ret.canMonoTimes = canMonoTimes

    for ii in updated_messages:
      if ii in RADAR_A_MSGS:
        cpt = self.rcp.vl[ii]

        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
          self.seen_valid[ii] = False    # reset validity

        if cpt['LONG_DIST'] < 255 and cpt['VALID']:
          self.seen_valid[ii] = True

        score = self.rcp.vl[ii+16]['SCORE']
        # print 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.seen_valid[ii]:
          if ii not in self.pts or cpt['NEW_TRACK']:
            self.pts[ii] = car.RadarState.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 = self.pts.values()
    return ret

if __name__ == "__main__":
  RI = RadarInterface(None)
  while 1:
    ret = RI.update()
    print(chr(27) + "[2J")
    print(ret)

@@ -1087,26 +1087,25 @@
    self.
-seen_
 valid
+_cnt
  = %7Bkey:
@@ -1105,21 +1105,17 @@
 = %7Bkey: 
-False
+0
  for key
@@ -1744,55 +1744,27 @@
     
-# TODO: do not hardcode last msg%0A      if 0x22f
+if RADAR_B_MSGS%5B-1%5D
  in 
@@ -2059,17 +2059,16 @@
 IST'%5D %3E=
- 
 255 or c
@@ -2103,30 +2103,25 @@
 elf.
-seen_
 valid
+_cnt
 %5Bii%5D = 
-False
+0
     
@@ -2132,17 +2132,15 @@
 set 
-validity%0A
+counter
 %0A   
@@ -2156,80 +2156,152 @@
 pt%5B'
-LONG_DIST'%5D %3C 255 and cpt%5B'VALID'%5D:%0A          self.seen_
+VALID'%5D and cpt%5B'LONG_DIST'%5D %3C 255:%0A          self.valid_cnt%5Bii%5D += 1%0A        else:%0A          self.valid_cnt%5Bii%5D = max(self.
 valid
+_cnt
 %5Bii%5D 
-= True
+-1, 0)
 %0A%0A  
@@ -2361,16 +2361,36 @@
 rint ii,
+ self.valid_cnt%5Bii%5D,
  score, 
@@ -2532,17 +2532,16 @@
      if 
-(
 cpt%5B'VAL
@@ -2548,16 +2548,17 @@
 ID'%5D or 
+(
 score %3E 
@@ -2559,17 +2559,16 @@
 ore %3E 50
-)
  and cpt
@@ -2600,22 +2600,26 @@
 elf.
-seen_valid%5Bii%5D
+valid_cnt%5Bii%5D %3E 0)
 :%0A  

Improve Toyota radar filtering (#409)