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32 lines
1.2 KiB
32 lines
1.2 KiB
6 years ago
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import os
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import subprocess
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from common.basedir import BASEDIR
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from cffi import FFI
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from ctypes import cdll
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locationd_dir = os.path.dirname(os.path.abspath(__file__))
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liblocationd_fn = os.path.join(locationd_dir, "liblocationd.so")
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ffi = FFI()
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ffi.cdef("""
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void *localizer_init(void);
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void localizer_handle_log(void * localizer, const unsigned char * data, size_t len);
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double localizer_get_yaw(void * localizer);
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double localizer_get_bias(void * localizer);
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double localizer_get_t(void * localizer);
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void *params_learner_init(size_t len, char * params, double angle_offset, double stiffness_factor, double steer_ratio, double learning_rate);
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bool params_learner_update(void * params_learner, double psi, double u, double sa);
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double params_learner_get_ao(void * params_learner);
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double params_learner_get_slow_ao(void * params_learner);
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double params_learner_get_x(void * params_learner);
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double params_learner_get_sR(void * params_learner);
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double * localizer_get_P(void * localizer);
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void localizer_set_P(void * localizer, double * P);
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double * localizer_get_state(void * localizer);
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void localizer_set_state(void * localizer, double * state);
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""")
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liblocationd = ffi.dlopen(liblocationd_fn)
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