sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 67 Packages Projects Releases Wiki Activity

Laikad: set cache dir to comma_download_cache (#25131)

Browse Source 
* Cache downloads for process replay

* set cache dir permanent

* Create constant
pull/214/head
Gijs Koning 3 years ago committed by GitHub
parent 205f6f7414
commit 105afee4a2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 4 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 10
      selfdrive/locationd/laikad.py

10
selfdrive/locationd/laikad.py
Unescape View File

@ -27,6 +27,7 @@ from system.swaglog import cloudlog
MAX_TIME_GAP = 10 MAX_TIME_GAP = 10
EPHEMERIS_CACHE = 'LaikadEphemeris' EPHEMERIS_CACHE = 'LaikadEphemeris'
DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache"
CACHE_VERSION = 0.1 CACHE_VERSION = 0.1
POS_FIX_RESIDUAL_THRESHOLD = 100.0 POS_FIX_RESIDUAL_THRESHOLD = 100.0
@ -42,7 +43,7 @@ class Laikad:
valid_ephem_types: Valid ephemeris types to be used by AstroDog valid_ephem_types: Valid ephemeris types to be used by AstroDog
save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
""" """
self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
self.auto_fetch_orbits = auto_fetch_orbits self.auto_fetch_orbits = auto_fetch_orbits
@ -183,7 +184,7 @@ class Laikad:
def fetch_orbits(self, t: GPSTime, block): def fetch_orbits(self, t: GPSTime, block):
# Download new orbits if 1 hour of orbits data left # Download new orbits if 1 hour of orbits data left
if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN): if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN):
astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
ret = None ret = None
if block: # Used for testing purposes if block: # Used for testing purposes
@ -203,8 +204,8 @@ class Laikad:
self.cache_ephemeris(t=t) self.cache_ephemeris(t=t)
def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
start_time = time.monotonic() start_time = time.monotonic()
try: try:
@ -301,6 +302,7 @@ def main(sm=None, pm=None):
replay = "REPLAY" in os.environ replay = "REPLAY" in os.environ
use_internet = "LAIKAD_NO_INTERNET" not in os.environ use_internet = "LAIKAD_NO_INTERNET" not in os.environ
laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
while True: while True:
sm.update() sm.update()

Write Preview
Loading…
Cancel
Save