Laikad: process executor to fetch orbits (#24843)

* Use ProcessPoolExecutor to fetch orbits

* update laika repo

* Minor
old-commit-hash: a2d2378ee1

laika_repo

@@ -1 +1 @@
-Subproject commit d87194613455b42af19ff2b5a3f7d1cae5852885
+Subproject commit 36f2621fc5348487bb2cd606c37c8c15de0e32cd

selfdrive/locationd/laikad.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-from multiprocessing import Process, Queue
+from concurrent.futures import Future, ProcessPoolExecutor
 from typing import List, Optional
 
 import numpy as np
@@ -10,7 +10,7 @@ from numpy.linalg import linalg
 
 from cereal import log, messaging
 from laika import AstroDog
-from laika.constants import SECS_IN_MIN
+from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.ephemeris import EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@@ -29,8 +29,9 @@ class Laikad:
   def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)):
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
     self.gnss_kf = GNSSKalman(GENERATED_DIR)
-    self.orbit_p: Optional[Process] = None
+    self.orbit_fetch_executor = ProcessPoolExecutor()
-    self.orbit_q = Queue()
+    self.orbit_fetch_future: Optional[Future] = None
+    self.last_fetch_orbits_t = None
 
   def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
@@ -82,7 +83,7 @@ class Laikad:
       return dat
     elif ublox_msg.which == 'ephemeris':
       ephem = convert_ublox_ephem(ublox_msg.ephemeris)
-      self.astro_dog.add_ephems([ephem], self.astro_dog.nav)
+      self.astro_dog.add_navs([ephem])
     # elif ublox_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
@@ -100,7 +101,7 @@ class Laikad:
         cloudlog.error("Gnss kalman std too far")
 
       if len(pos_fix) == 0:
-        cloudlog.error("Position fix not available when resetting kalman filter")
+        cloudlog.warning("Position fix not available when resetting kalman filter")
         return
       post_est = pos_fix[0][:3].tolist()
       self.init_gnss_localizer(post_est)
@@ -124,36 +125,33 @@ class Laikad:
 
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
-  def get_orbit_data(self, t: GPSTime, queue):
-    cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
-    start_time = time.monotonic()
-    try:
-      self.astro_dog.get_orbit_data(t, only_predictions=True)
-    except RuntimeError as e:
-      cloudlog.info(f"No orbit data found. {e}")
-      return
-    cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s")
-    if queue is not None:
-      queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times))
-
   def fetch_orbits(self, t: GPSTime, block):
-    if t not in self.astro_dog.orbit_fetched_times:
+    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR):
-      if block:
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
-        self.get_orbit_data(t, None)
+      if self.orbit_fetch_future is None:
-        return
+        self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
-      if self.orbit_p is None:
+        if block:
-        self.orbit_p = Process(target=self.get_orbit_data, args=(t, self.orbit_q))
+          self.orbit_fetch_future.result()
-        self.orbit_p.start()
+      if self.orbit_fetch_future.done():
-      if not self.orbit_q.empty():
+        ret = self.orbit_fetch_future.result()
-        ret = self.orbit_q.get()
         if ret:
           self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
-          self.orbit_p.join()
+        self.orbit_fetch_future = None
-          self.orbit_p = None
+        self.last_fetch_orbits_t = t
-
+
-  def __del__(self):
+
-    if self.orbit_p is not None:
+def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
-      self.orbit_p.kill()
+  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+  cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
+  start_time = time.monotonic()
+  data = None
+  try:
+    astro_dog.get_orbit_data(t, only_predictions=True)
+    data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
+  except RuntimeError as e:
+    cloudlog.info(f"No orbit data found. {e}")
+  cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+  return data
 
 
 def create_measurement_msg(meas: GNSSMeasurement):

selfdrive/locationd/test/test_laikad.py

@@ -69,29 +69,46 @@ class TestLaikad(unittest.TestCase):
     self.assertEqual(256, len(correct_msgs))
     self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_get_orbits(self):
+  def get_first_gps_time(self):
-    laikad = Laikad(auto_update=False)
-    first_gps_time = None
     for m in self.logs:
       if m.ubloxGnss.which == 'measurementReport':
         new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
         if len(new_meas) != 0:
-          first_gps_time = new_meas[0].recv_time
+          return new_meas[0].recv_time
-          break
+
+  def test_laika_get_orbits(self):
+    laikad = Laikad(auto_update=False)
+    first_gps_time = self.get_first_gps_time()
     # Pretend process has loaded the orbits on startup by using the time of the first gps message.
     laikad.fetch_orbits(first_gps_time, block=True)
-    self.assertEqual(29, len(laikad.astro_dog.orbits.keys()))
+    self.assertEqual(29, len(laikad.astro_dog.orbits.values()))
+    self.assertGreater(min([len(v) for v in laikad.astro_dog.orbits.values()]), 0)
 
   @unittest.skip("Use to debug live data")
   def test_laika_get_orbits_now(self):
     laikad = Laikad(auto_update=False)
     laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True)
     prn = "G01"
-    self.assertLess(0, len(laikad.astro_dog.orbits[prn]))
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
     prn = "R01"
-    self.assertLess(0, len(laikad.astro_dog.orbits[prn]))
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
     print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime())
 
+  def test_get_orbits_in_process(self):
+    laikad = Laikad(auto_update=False)
+    has_orbits = False
+    for m in self.logs:
+      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      if laikad.orbit_fetch_future is not None:
+        laikad.orbit_fetch_future.result()
+      vals = laikad.astro_dog.orbits.values()
+      has_orbits = len(vals) > 0 and max([len(v) for v in vals]) > 0
+      if has_orbits:
+        break
+    self.assertTrue(has_orbits)
+    self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0)
+    self.assertEqual(None, laikad.orbit_fetch_future)
+
 
 if __name__ == "__main__":
   unittest.main()