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48 lines
1.4 KiB
48 lines
1.4 KiB
#!/usr/bin/env python3
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import time
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import sys
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import argparse
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import zmq
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import json
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import pyproj
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import numpy as np
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ecef = pyproj.Proj(proj='geocent', ellps='WGS84', datum='WGS84')
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lla = pyproj.Proj(proj='latlong', ellps='WGS84', datum='WGS84')
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import cereal.messaging as messaging
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from cereal.services import service_list
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poller = zmq.Poller()
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ll = messaging.sub_sock("liveLocation", poller)
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tll = messaging.sub_sock("testLiveLocation", poller)
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l, tl = None, None
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lp = time.time()
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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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if sock == ll:
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l = messaging.recv_one(sock)
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elif sock == tll:
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tl = messaging.recv_one(sock)
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if l is None or tl is None:
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continue
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alt_err = np.abs(l.liveLocation.alt - tl.liveLocation.alt)
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l1 = pyproj.transform(lla, ecef, l.liveLocation.lon, l.liveLocation.lat, l.liveLocation.alt)
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l2 = pyproj.transform(lla, ecef, tl.liveLocation.lon, tl.liveLocation.lat, tl.liveLocation.alt)
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al1 = pyproj.transform(lla, ecef, l.liveLocation.lon, l.liveLocation.lat, l.liveLocation.alt)
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al2 = pyproj.transform(lla, ecef, tl.liveLocation.lon, tl.liveLocation.lat, l.liveLocation.alt)
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tdiff = np.abs(l.logMonoTime - tl.logMonoTime) / 1e9
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if time.time()-lp > 0.1:
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print("tm: %f mse: %f mse(flat): %f alterr: %f" % (tdiff, np.mean((np.array(l1)-np.array(l2))**2), np.mean((np.array(al1)-np.array(al2))**2), alt_err))
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lp = time.time()
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