From cb11e4b43b4e6a55d893d79b4f6a9a877a90fcca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 20 May 2022 15:00:28 -0700
Subject: [PATCH] SubMaster: support for polling in C++ (#24602)

* poll when sm.update isn't 0

* bump cereal

* poll modelV2 in UI

* fix driverview

* need to update here

* empty list means poll all

revert

* Revert "poll modelV2 in UI"

This reverts commit 82aac96a1ffc64eb79b07817451b76e6924a9812.

* Revert "fix driverview"

This reverts commit 074ee10f177cf7c99f8201a85904e01d40adbe6d.

* poll all
old-commit-hash: e6da217813ecc58bedd3f92d1c905e13409ea79a
---
 cereal                           |  2 +-
 selfdrive/locationd/locationd.cc | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/cereal b/cereal
index b43ac3de52..9c0c517bc8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b43ac3de527ad4f885af544cd0e9e9d4a9b1a6c2
+Subproject commit 9c0c517bc8b136991b21a759fee743228eb680ba
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 3875d969c5..c33ff6a497 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -250,12 +250,12 @@ void Localizer::input_fake_gps_observations(double current_time) {
   // Steps : first predict -> observe current obs with reasonable STD
   this->kf->predict(current_time);
 
-  VectorXd current_x = this->kf->get_x();  
+  VectorXd current_x = this->kf->get_x();
   VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
   VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
   MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov();
   MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov();
-  
+
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }
@@ -283,7 +283,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
-  
+
   this->unix_timestamp_millis = log.getTimestamp();
   double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
 
@@ -419,7 +419,7 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd
   init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
   init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
   init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
-  
+
   this->reset_kalman(current_time, current_x, init_P);
 }
 
@@ -494,7 +494,7 @@ int Localizer::locationd_thread() {
   PubMaster pm({"liveLocationKalman"});
 
   // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, nullptr, {"gpsLocationExternal", "carParams"});
+  SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;