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SubMaster: support for polling in C++ (#24602)

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* poll when sm.update isn't 0

* bump cereal

* poll modelV2 in UI

* fix driverview

* need to update here

* empty list means poll all

revert

* Revert "poll modelV2 in UI"

This reverts commit 82aac96a1ffc64eb79b07817451b76e6924a9812.

* Revert "fix driverview"

This reverts commit 074ee10f177cf7c99f8201a85904e01d40adbe6d.

* poll all
old-commit-hash: e6da217813
This commit is contained in:
Shane Smiskol
2022-05-20 15:00:28 -07:00
committed by GitHub
parent 51165e5df5
commit cb11e4b43b
2 changed files with 6 additions and 6 deletions
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2
cereal

Submodule cereal updated: b43ac3de52...9c0c517bc8

10
selfdrive/locationd/locationd.cc
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@@ -250,12 +250,12 @@ void Localizer::input_fake_gps_observations(double current_time) {
// Steps : first predict -> observe current obs with reasonable STD
this->kf->predict(current_time);
VectorXd current_x = this->kf->get_x();
VectorXd current_x = this->kf->get_x();
VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov();
MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov();
this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
}
@@ -283,7 +283,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
this->unix_timestamp_millis = log.getTimestamp();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@@ -419,7 +419,7 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd
init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
this->reset_kalman(current_time, current_x, init_P);
}
@@ -494,7 +494,7 @@ int Localizer::locationd_thread() {
PubMaster pm({"liveLocationKalman"});
// TODO: remove carParams once we're always sending at 100Hz
SubMaster sm(service_list, nullptr, {"gpsLocationExternal", "carParams"});
SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"});
uint64_t cnt = 0;
bool filterInitialized = false;