#!/usr/bin/env python3 import math import os import time import shutil from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from datetime import datetime from enum import IntEnum from typing import List, Optional import numpy as np from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemerisV2' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used auto_fetch_navs: If true fetch navs from internet when needed auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere. valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None self.got_first_gnss_msg = False self.last_report_time = GPSTime(0, 0) self.last_fetch_navs_t = GPSTime(0, 0) self.last_cached_t = GPSTime(0, 0) self.save_ephemeris = save_ephemeris self.load_cache() self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} self.velfix_function = get_velfix_sympy_func() self.last_fix_pos = None self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom def load_cache(self): if not self.save_ephemeris: return cache_bytes = Params().get(EPHEMERIS_CACHE) if not cache_bytes: return nav_dict = {} try: ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) glonass_navs = [GLONASSEphemeris(data_struct) for data_struct in ephem_cache.glonassEphemerides] gps_navs = [GPSEphemeris(data_struct) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: nav_dict[e.prn] = [] nav_dict[e.prn].append(e) self.astro_dog.add_navs(nav_dict) except Exception: cloudlog.exception("Error parsing cache") cloudlog.debug( f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") def cache_ephemeris(self): if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] position_std_residual = np.median(np.abs(pr_residuals)) position_std = np.median(np.abs(pos_std))/10 position_std = max(position_std_residual, position_std) * np.ones(3) velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None velocity_estimate = velocity_solution[:3] velocity_std_residual = np.median(np.abs(prr_residuals)) velocity_std = np.median(np.abs(vel_std))/10 velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) return position_estimate, position_std, velocity_estimate, velocity_std def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) # TODO support GLONASS return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: return False def read_report(self, gnss_msg): if self.use_qcom: report = gnss_msg.drMeasurementReport week = report.gpsWeek tow = report.gpsMilliseconds / 1000.0 new_meas = read_raw_qcom(report) else: report = gnss_msg.measurementReport week = report.gpsWeek tow = report.rcvTow new_meas = read_raw_ublox(report) self.last_report_time = GPSTime(week, tow) return week, tow, new_meas def is_ephemeris(self, gnss_msg): if self.use_qcom: return gnss_msg.which() == 'drSvPoly' else: return gnss_msg.which() in ('ephemeris', 'glonassEphemeris') def read_ephemeris(self, gnss_msg): if self.use_qcom: # TODO this is not robust to gps week rollover if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) ephem = GPSEphemeris(data_struct) elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) ephem = GLONASSEphemeris(data_struct) else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris() def process_report(self, new_meas, t): # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites 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) else: corrected_measurements = [] instant_fix = self.get_lsq_fix(t, processed_measurements) if instant_fix is None: return None else: position_estimate, position_std, velocity_estimate, velocity_std = instant_fix 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 def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) return None 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 None 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 None position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output self.update_localizer(position_estimate, t, corrected_measurements) meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] msg = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) msg.gnssMeasurements = { "gpsWeek": week, "gpsTimeOfWeek": tow, "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(), 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 } return msg #elif gnss_msg.which() == 'ionoData': # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): if not valid[0]: # Filter not initialized pass elif not valid[1]: 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: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: return if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) else: # Ensure gnss filter is updated even with no new measurements self.gnss_kf.predict(t) def kf_valid(self, t: float) -> List[bool]: filter_time = self.gnss_kf.filter.get_filter_time() return [not math.isnan(filter_time), abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] def init_gnss_localizer(self, est_pos): x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) x_initial[GStates.ECEF_POS] = est_pos p_initial_diag[GStates.ECEF_POS] = 1000 ** 2 self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) def fetch_navs(self, t: GPSTime, block): # Download new navs if 1 hour of navs data left if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None if block: # Used for testing purposes ret = get_orbit_data(t, *astro_dog_vars) elif self.orbit_fetch_future is None: self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) elif self.orbit_fetch_future.done(): ret = self.orbit_fetch_future.result() self.orbit_fetch_executor = self.orbit_fetch_future = None if ret is not None: if ret[0] is None: self.last_fetch_navs_t = ret[2] else: self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret self.cache_ephemeris() def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir) cloudlog.info(f"Start to download/parse navs for time {t.as_datetime()}") start_time = time.monotonic() try: astro_dog.get_navs(t) cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s") cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" + f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}") return astro_dog.navs, astro_dog.navs_fetched_times, t except (DownloadFailed, RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") return None, None, t def create_measurement_msg(meas: GNSSMeasurement): c = log.GnssMeasurements.CorrectedMeasurement.new_message() c.constellationId = meas.constellation_id.value c.svId = meas.sv_id c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0 c.pseudorange = float(meas.observables_final['C1C']) c.pseudorangeStd = float(meas.observables_std['C1C']) c.pseudorangeRate = float(meas.observables_final['D1C']) c.pseudorangeRateStd = float(meas.observables_std['D1C']) c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() ephem = meas.sat_ephemeris assert ephem is not None week, time_of_week = -1, -1 if ephem.eph_type == EphemerisType.NAV: source_type = EphemerisSourceType.nav elif ephem.eph_type == EphemerisType.QCOM_POLY: source_type = EphemerisSourceType.qcom else: assert ephem.file_epoch is not None week = ephem.file_epoch.week time_of_week = ephem.file_epoch.tow file_src = ephem.file_source if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' source_type = EphemerisSourceType.nasaUltraRapid elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' source_type = EphemerisSourceType.glonassIacUltraRapid else: raise Exception(f"Didn't expect file source {file_src}") c.ephemerisSource.type = source_type.value c.ephemerisSource.gpsWeek = week c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: m_arr = m.as_array() if m.constellation_id == ConstellationId.GPS: ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr) elif m.constellation_id == ConstellationId.GLONASS: ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr) ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS] ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS] for kind, data in ekf_data.items(): if len(data) > 0: gnss_kf.predict_and_observe(t, kind, data) class EphemerisSourceType(IntEnum): nav = 0 nasaUltraRapid = 1 glonassIacUltraRapid = 2 qcom = 3 def process_msg(laikad, gnss_msg, mono_time, block=False): # TODO: Understand and use remaining unknown constellations if gnss_msg.which() == "drMeasurementReport": if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: return None if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: # gpsWeek 65535 is received rarely from quectel, this cannot be # passed to GnssMeasurements's gpsWeek (Int16) return None return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) def main(sm=None, pm=None, qc=None): #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) if use_qcom or (qc is not None and qc): raw_gnss_socket = "qcomGnss" else: raw_gnss_socket = "ubloxGnss" if sm is None: sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ if replay or "CI" in os.environ: use_internet = True laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: sm.update() if sm.updated[raw_gnss_socket]: gnss_msg = sm[raw_gnss_socket] msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) if msg is None: # TODO: beautify this, locationd needs a valid message msg = messaging.new_message("gnssMeasurements") pm.send('gnssMeasurements', msg) if not laikad.got_first_gnss_msg and sm.updated['clocks']: clocks_msg = sm['clocks'] t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) if laikad.auto_fetch_navs: laikad.fetch_navs(t, block=replay) if __name__ == "__main__": main()