diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2e3ee1b7f..59176c586 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -7,7 +7,7 @@ from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from datetime import datetime from enum import IntEnum -from typing import List, Optional +from typing import List, Optional, Dict, Any import numpy as np @@ -241,12 +241,14 @@ class Laikad: new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog) - instant_fix = self.get_lsq_fix(t, corrected_measurements) - #instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.last_fix_pos else: - corrected_measurements = [] - instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + return corrected_measurements + + def calc_fix(self, t, measurements): + instant_fix = self.get_lsq_fix(t, measurements) if instant_fix is None: return None else: @@ -254,64 +256,52 @@ class Laikad: self.last_fix_t = t self.last_fix_pos = position_estimate self.lat_fix_pos_std = position_std - if (t*1e9) % 10 == 0: - cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") - return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements + return position_estimate, position_std, velocity_estimate, velocity_std def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") - out_msg.gnssMeasurements = { - "timeToFirstFix": self.ttff, - "ephemerisStatuses": self.create_ephem_statuses(), - } + t = gnss_mono_time * 1e-9 + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return out_msg elif self.is_good_report(gnss_msg): week, tow, new_meas = self.read_report(gnss_msg) self.gps_week = week - if len(new_meas) == 0: - return out_msg - - t = gnss_mono_time * 1e-9 if week > 0: self.got_first_gnss_msg = True latest_msg_t = GPSTime(week, tow) if self.auto_fetch_navs: self.fetch_navs(latest_msg_t, block) - output = self.process_report(new_meas, t) - if output is None: - return out_msg - if self.ttff <= 0: - self.ttff = max(1e-3, t - self.first_log_time) - position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output + corrected_measurements = self.process_report(new_meas, t) + msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - self.update_localizer(position_estimate, t, corrected_measurements) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] + fix = self.calc_fix(t, corrected_measurements) measurement_msg = log.LiveLocationKalman.Measurement.new_message - + if fix is not None: + position_estimate, position_std, velocity_estimate, velocity_std = fix + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) + msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) + msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) + + self.update_localizer(self.last_fix_pos, t, corrected_measurements) P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - out_msg.gnssMeasurements = { - "gpsWeek": week, - "gpsTimeOfWeek": tow, - "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), + msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid), - "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), + valid=kf_valid) + msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid), - "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)), - "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), - - "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs, - "timeToFirstFix": self.ttff, - "ephemerisStatuses": self.create_ephem_statuses(), - } + valid=kf_valid) + + msg_dict['gpsWeek'] = self.last_report_time.week + msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow + msg_dict['timeToFirstFix'] = self.ttff + msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() + out_msg.gnssMeasurements = msg_dict return out_msg def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): @@ -324,7 +314,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if len(est_pos) > 0: + if est_pos is not None and len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 265db50c6..e184dc3ec 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 559 + correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -201,9 +201,11 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 42 if use_qcom else 559 + correct_msgs_expected = 44 if use_qcom else 560 + valid_fix_expected = 43 if use_qcom else 560 + self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): @@ -216,8 +218,9 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(375, len(correct_msgs)) - self.assertEqual(375, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + expected_msgs = 376 + self.assertEqual(expected_msgs, len(correct_msgs)) + self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -325,7 +328,7 @@ class TestLaikad(unittest.TestCase): gm = msg.gnssMeasurements if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: cnt += 1 - self.assertEqual(cnt, 559) + self.assertEqual(cnt, 560) def dict_has_values(self, dct): self.assertGreater(len(dct), 0) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d20b7f5d7..556781738 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a4ee2bfc9a9518a23a4f0fac4df124d1f12deb79 +50f1e873095fe2462d2aadb9c401bda76759c01c