mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-03-03 21:13:53 +08:00
29d3ed2ce6
* PoC of reading sensors via interrupts instead of polling * add Gyro and draft for magn * add more functionality to gpio.cc * change LSM gyro to interrupt * resolve rebase conflict * update BMX accel interrupt impl * add interrupt collector thread to fetch in parallel * change get_event interface to return true on successful read * update BMX gyro interrupt impl * update gpio.h/.cc according to comments * address comments, rename Edgetype enum * Edgetype to EdgeType * update sensor interrupt interface * add error handling, and read fd on trigger * avoid sending empty messages * fix build * use gpiochip * less diff * gpiochip on both edges, but skip falling edge if rising edge is detected * init last_ts with 0 * update sensord testcases * update sensord testsweet * test for pipeline * readd with_process * add null check * move tests update to seperate PR * sensord: improve test coverage (#25683) * update sensord-interrupt testsweet * address review comments * inc stddev threshold * fix format string * add version 0 check again * relax strictness after c3 with bmx tests * relax strictness after tests Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> * address PR comments * fix typo * remove 4ms limit, and skip first 0.5sec of data * revert disable_interuppt change to destructor * fix and remove timing skip * make gpiochip generic * sensord port * change from sensorEvents to separated events * fix gyro usage * add splitted sensor tests * modify debug script sensor_data_to_hist.py * refactor get_event interface to remove sensorEvent message type * update locationd to non sensorEvent usage * tmp commit * fix replay * fix accelerometer type * fix sensor to hist debug script * update sensord tests to split events * remove rebase artifacts * port test_sensord.py * small clean up * change cereal to sensorEvents-splitup branch * upate sensorEvents in regen * fix route generation for splitted sensor events * regen cleanUp from sensorEvents change * . * remove light and temp from locationd * add generic init delay per sensor * . * update routes * move bmx gyro/accel to its own channel * adopt sensor tests to bmx channel * remove rebase artifacts * fix sensord test * handle bmx not present * add bmx sockets to regen * . * . * code cleanUp * . * address PR comments * address PR comments * address PR comments * lsm clean up * readd sensorEvents * rever regen.py * . * update replay refs * move channels * fix artifact * bump cereal * update refs * fix timing issue Co-authored-by: Bruce Wayne <batman@workstation-eu-intern2.eu.local> Co-authored-by: gast04 <kurt.nistelberger@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
76 lines
2.4 KiB
C++
Executable File
76 lines
2.4 KiB
C++
Executable File
#pragma once
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#include <eigen3/Eigen/Dense>
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#include <fstream>
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#include <memory>
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#include <string>
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#include "cereal/messaging/messaging.h"
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#include "common/transformations/coordinates.hpp"
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#include "common/transformations/orientation.hpp"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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#include "selfdrive/sensord/sensors/constants.h"
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#define VISION_DECIMATION 2
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#define SENSOR_DECIMATION 10
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#include "selfdrive/locationd/models/live_kf.h"
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#define POSENET_STD_HIST_HALF 20
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class Localizer {
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public:
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Localizer();
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int locationd_thread();
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void reset_kalman(double current_time = NAN);
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void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos, Eigen::VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R);
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void reset_kalman(double current_time, Eigen::VectorXd init_x, MatrixXdr init_P);
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void finite_check(double current_time = NAN);
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void time_check(double current_time = NAN);
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void update_reset_tracker();
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bool isGpsOK();
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void determine_gps_mode(double current_time);
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kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
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bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
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void build_live_location(cereal::LiveLocationKalman::Builder& fix);
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Eigen::VectorXd get_position_geodetic();
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Eigen::VectorXd get_state();
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Eigen::VectorXd get_stdev();
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void handle_msg_bytes(const char *data, const size_t size);
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void handle_msg(const cereal::Event::Reader& log);
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void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
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void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log);
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void handle_car_state(double current_time, const cereal::CarState::Reader& log);
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void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
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void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
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void input_fake_gps_observations(double current_time);
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private:
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std::unique_ptr<LiveKalman> kf;
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Eigen::VectorXd calib;
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MatrixXdr device_from_calib;
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MatrixXdr calib_from_device;
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bool calibrated = false;
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double car_speed = 0.0;
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double last_reset_time = NAN;
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std::deque<double> posenet_stds;
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std::unique_ptr<LocalCoord> converter;
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int64_t unix_timestamp_millis = 0;
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double last_gps_fix = 0;
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double reset_tracker = 0.0;
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bool device_fell = false;
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bool gps_mode = false;
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};
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