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232 lines
10 KiB
232 lines
10 KiB
#!/usr/bin/env python3
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import os
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import zmq
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import numpy as np
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from bisect import bisect_right
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import cereal.messaging as messaging
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from selfdrive.swaglog import cloudlog
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from cereal.services import service_list
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from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
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import common.transformations.coordinates as coord
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import laika.raw_gnss as gnss
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from laika.astro_dog import AstroDog
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from selfdrive.locationd.kalman.loc_kf import LocKalman
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from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
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os.environ["OMP_NUM_THREADS"] = "1"
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class Localizer():
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def __init__(self, disabled_logs=[], dog=None):
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self.kf = LocKalman(0)
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self.reset_kalman()
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if dog:
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self.dog = dog
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else:
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self.dog = AstroDog(auto_update=True)
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self.max_age = .2 # seconds
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self.disabled_logs = disabled_logs
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self.week = None
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def liveLocationMsg(self, time):
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fix = messaging.log.LiveLocationData.new_message()
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predicted_state = self.kf.x
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fix_ecef = predicted_state[0:3]
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fix_pos_geo = coord.ecef2geodetic(fix_ecef)
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fix.lat = float(fix_pos_geo[0])
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fix.lon = float(fix_pos_geo[1])
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fix.alt = float(fix_pos_geo[2])
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fix.speed = float(np.linalg.norm(predicted_state[7:10]))
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orientation_ned_euler = ned_euler_from_ecef(fix_ecef, quat2euler(predicted_state[3:7]))
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fix.roll = float(orientation_ned_euler[0]*180/np.pi)
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fix.pitch = float(orientation_ned_euler[1]*180/np.pi)
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fix.heading = float(orientation_ned_euler[2]*180/np.pi)
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fix.gyro = [float(predicted_state[10]), float(predicted_state[11]), float(predicted_state[12])]
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fix.accel = [float(predicted_state[19]), float(predicted_state[20]), float(predicted_state[21])]
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local_vel = rotations_from_quats(predicted_state[3:7]).T.dot(predicted_state[7:10])
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fix.pitchCalibration = float((np.arctan2(local_vel[2], local_vel[0]))*180/np.pi)
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fix.yawCalibration = float((np.arctan2(local_vel[1], local_vel[0]))*180/np.pi)
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fix.imuFrame = [(180/np.pi)*float(predicted_state[23]), (180/np.pi)*float(predicted_state[24]), (180/np.pi)*float(predicted_state[25])]
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return fix
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def update_kalman(self, time, kind, meas):
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idx = bisect_right([x[0] for x in self.observation_buffer], time)
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self.observation_buffer.insert(idx, (time, kind, meas))
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#print len(self.observation_buffer), idx, self.kf.filter.filter_time, time
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while self.observation_buffer[-1][0] - self.observation_buffer[0][0] > self.max_age:
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if self.filter_ready:
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self.kf.predict_and_observe(*self.observation_buffer.pop(0))
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else:
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self.observation_buffer.pop(0)
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def handle_gps(self, log, current_time):
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self.converter = coord.LocalCoord.from_geodetic([log.gpsLocationExternal.latitude, log.gpsLocationExternal.longitude, log.gpsLocationExternal.altitude])
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fix_ecef = self.converter.ned2ecef([0,0,0])
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# initing with bad bearing allowed, maybe bad?
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if not self.filter_ready and len(list(self.dog.orbits.keys())) >6: # and log.gpsLocationExternal.speed > 5:
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self.filter_ready = True
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initial_ecef = fix_ecef
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initial_state = np.zeros(29)
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gps_bearing = log.gpsLocationExternal.bearing*(np.pi/180)
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initial_pose_ecef = ecef_euler_from_ned(initial_ecef, [0, 0, gps_bearing])
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initial_pose_ecef_quat = euler2quat(initial_pose_ecef)
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gps_speed = log.gpsLocationExternal.speed
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quat_uncertainty = 0.2**2
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initial_pose_ecef_quat = euler2quat(initial_pose_ecef)
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initial_state[:3] = initial_ecef
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initial_state[3:7] = initial_pose_ecef_quat
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initial_state[7:10] = rotations_from_quats(initial_pose_ecef_quat).dot(np.array([gps_speed, 0, 0]))
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initial_state[18] = 1
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initial_state[22] = 1
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covs_diag = np.array([10**2,10**2,10**2,
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quat_uncertainty, quat_uncertainty, quat_uncertainty,
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2**2, 2**2, 2**2,
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1, 1, 1,
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20000000**2, 100**2,
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0.01**2, 0.01**2, 0.01**2,
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0.02**2,
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2**2, 2**2, 2**2,
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.01**2,
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0.01**2, 0.01**2, 0.01**2,
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10**2, 1**2,
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0.2**2])
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self.kf.init_state(initial_state, covs=np.diag(covs_diag), filter_time=current_time)
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print("Filter initialized")
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elif self.filter_ready:
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#self.update_kalman(current_time, ObservationKind.ECEF_POS, fix_ecef)
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gps_est_error = np.sqrt((self.kf.x[0] - fix_ecef[0])**2 +
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(self.kf.x[1] - fix_ecef[1])**2 +
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(self.kf.x[2] - fix_ecef[2])**2)
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if gps_est_error > 50:
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cloudlog.info("Locationd vs ubloxLocation difference too large, kalman reset")
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self.reset_kalman()
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def handle_car_state(self, log, current_time):
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self.speed_counter += 1
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if self.speed_counter % 5==0:
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self.update_kalman(current_time, ObservationKind.ODOMETRIC_SPEED, log.carState.vEgo)
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if log.carState.vEgo == 0:
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self.update_kalman(current_time, ObservationKind.NO_ROT, [0, 0, 0])
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def handle_ublox_gnss(self, log, current_time):
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if hasattr(log.ubloxGnss, 'measurementReport'):
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self.raw_gnss_counter += 1
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if True or self.raw_gnss_counter % 3==0:
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processed_raw = gnss.process_measurements(gnss.read_raw_ublox(log.ubloxGnss.measurementReport), dog=self.dog)
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corrected_raw = gnss.correct_measurements(processed_raw, self.kf.x[:3], dog=self.dog)
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corrected_raw = np.array([c.as_array() for c in corrected_raw]).reshape((-1,14))
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self.update_kalman(current_time, ObservationKind.PSEUDORANGE_GPS, corrected_raw)
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self.update_kalman(current_time, ObservationKind.PSEUDORANGE_RATE_GPS, corrected_raw)
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#elif hasattr(log.ubloxGnss, 'ephemeris'):
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# self.dog.add_ublox_ephems([log])
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# if len(self.dog.orbits.keys()) < 6:
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# print 'Added ublox ephem now has ', len(self.dog.orbits.keys())
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def handle_qcom_gnss(self, log, current_time):
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if hasattr(log.qcomGnss, 'drSvPoly') and self.week is not None:
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self.dog.add_qcom_ephems([log], self.week)
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if len(list(self.dog.orbits.keys())) < 6:
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print('Added qcom ephem now has ', len(list(self.dog.orbits.keys())))
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if hasattr(log.qcomGnss, 'drMeasurementReport') and log.qcomGnss.drMeasurementReport.source == "gps":
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self.week = log.qcomGnss.drMeasurementReport.gpsWeek
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def handle_cam_odo(self, log, current_time):
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self.update_kalman(current_time, ObservationKind.CAMERA_ODO_ROTATION, np.concatenate([log.cameraOdometry.rot,
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log.cameraOdometry.rotStd]))
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self.update_kalman(current_time, ObservationKind.CAMERA_ODO_TRANSLATION, np.concatenate([log.cameraOdometry.trans,
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log.cameraOdometry.transStd]))
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pass
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def handle_sensors(self, log, current_time):
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for sensor_reading in log.sensorEvents:
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# TODO does not yet account for double sensor readings in the log
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if sensor_reading.type == 4:
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self.gyro_counter += 1
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if True or self.gyro_counter % 5==0:
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if max(abs(self.kf.x[23:26])) > 0.07:
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print('imu frame angles exceeded, correcting')
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self.update_kalman(current_time, ObservationKind.IMU_FRAME, [0, 0, 0])
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self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-sensor_reading.gyro.v[2], -sensor_reading.gyro.v[1], -sensor_reading.gyro.v[0]])
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if sensor_reading.type == 1:
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self.acc_counter += 1
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if True or self.acc_counter % 5==0:
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self.update_kalman(current_time, ObservationKind.PHONE_ACCEL, [-sensor_reading.acceleration.v[2], -sensor_reading.acceleration.v[1], -sensor_reading.acceleration.v[0]])
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def handle_log(self, log):
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current_time = 1e-9*log.logMonoTime
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typ = log.which
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if typ in self.disabled_logs:
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return
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if typ == "sensorEvents":
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self.handle_sensors(log, current_time)
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elif typ == "gpsLocationExternal":
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self.handle_gps(log, current_time)
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elif typ == "carState":
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self.handle_car_state(log, current_time)
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elif typ == "ubloxGnss":
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self.handle_ublox_gnss(log, current_time)
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elif typ == "qcomGnss":
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self.handle_qcom_gnss(log, current_time)
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elif typ == "cameraOdometry":
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self.handle_cam_odo(log, current_time)
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def reset_kalman(self):
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self.filter_time = None
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self.filter_ready = False
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self.observation_buffer = []
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self.converter = None
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self.gyro_counter = 0
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self.acc_counter = 0
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self.raw_gnss_counter = 0
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self.speed_counter = 0
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def locationd_thread(gctx, addr, disabled_logs):
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poller = zmq.Poller()
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#carstate = messaging.sub_sock('carState', poller, addr=addr, conflate=True)
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gpsLocationExternal = messaging.sub_sock('gpsLocationExternal', poller, addr=addr, conflate=True)
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ubloxGnss = messaging.sub_sock('ubloxGnss', poller, addr=addr, conflate=True)
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qcomGnss = messaging.sub_sock('qcomGnss', poller, addr=addr, conflate=True)
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sensorEvents = messaging.sub_sock('sensorEvents', poller, addr=addr, conflate=True)
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liveLocation = messaging.pub_sock('liveLocation')
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localizer = Localizer(disabled_logs=disabled_logs)
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print("init done")
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# buffer with all the messages that still need to be input into the kalman
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while 1:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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logs = messaging.drain_sock(sock)
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for log in logs:
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localizer.handle_log(log)
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if localizer.filter_ready and log.which == 'ubloxGnss':
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msg = messaging.new_message()
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msg.logMonoTime = log.logMonoTime
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msg.init('liveLocation')
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msg.liveLocation = localizer.liveLocationMsg(log.logMonoTime*1e-9)
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liveLocation.send(msg.to_bytes())
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def main(gctx=None, addr="127.0.0.1"):
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IN_CAR = os.getenv("IN_CAR", False)
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disabled_logs = os.getenv("DISABLED_LOGS", "").split(",")
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# No speed for now
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disabled_logs.append('carState')
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if IN_CAR:
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addr = "192.168.5.11"
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locationd_thread(gctx, addr, disabled_logs)
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if __name__ == "__main__":
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main()
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