You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
284 lines
10 KiB
284 lines
10 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import signal
|
|
import itertools
|
|
import math
|
|
import time
|
|
from typing import NoReturn
|
|
from struct import unpack_from, calcsize, pack
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
from system.swaglog import cloudlog
|
|
|
|
from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
|
|
from selfdrive.sensord.rawgps.structs import dict_unpacker
|
|
from selfdrive.sensord.rawgps.structs import gps_measurement_report, gps_measurement_report_sv
|
|
from selfdrive.sensord.rawgps.structs import glonass_measurement_report, glonass_measurement_report_sv
|
|
from selfdrive.sensord.rawgps.structs import oemdre_measurement_report, oemdre_measurement_report_sv
|
|
from selfdrive.sensord.rawgps.structs import LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT
|
|
from selfdrive.sensord.rawgps.structs import position_report, LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT
|
|
|
|
DEBUG = int(os.getenv("DEBUG", "0"))==1
|
|
|
|
miscStatusFields = {
|
|
"multipathEstimateIsValid": 0,
|
|
"directionIsValid": 1,
|
|
}
|
|
|
|
measurementStatusFields = {
|
|
"subMillisecondIsValid": 0,
|
|
"subBitTimeIsKnown": 1,
|
|
"satelliteTimeIsKnown": 2,
|
|
"bitEdgeConfirmedFromSignal": 3,
|
|
"measuredVelocity": 4,
|
|
"fineOrCoarseVelocity": 5,
|
|
"lockPointValid": 6,
|
|
"lockPointPositive": 7,
|
|
|
|
"lastUpdateFromDifference": 9,
|
|
"lastUpdateFromVelocityDifference": 10,
|
|
"strongIndicationOfCrossCorelation": 11,
|
|
"tentativeMeasurement": 12,
|
|
"measurementNotUsable": 13,
|
|
"sirCheckIsNeeded": 14,
|
|
"probationMode": 15,
|
|
|
|
"multipathIndicator": 24,
|
|
"imdJammingIndicator": 25,
|
|
"lteB13TxJammingIndicator": 26,
|
|
"freshMeasurementIndicator": 27,
|
|
}
|
|
|
|
measurementStatusGPSFields = {
|
|
"gpsRoundRobinRxDiversity": 18,
|
|
"gpsRxDiversity": 19,
|
|
"gpsLowBandwidthRxDiversityCombined": 20,
|
|
"gpsHighBandwidthNu4": 21,
|
|
"gpsHighBandwidthNu8": 22,
|
|
"gpsHighBandwidthUniform": 23,
|
|
}
|
|
|
|
measurementStatusGlonassFields = {
|
|
"glonassMeanderBitEdgeValid": 16,
|
|
"glonassTimeMarkValid": 17
|
|
}
|
|
|
|
def main() -> NoReturn:
|
|
unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
|
|
unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
|
|
|
|
unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True)
|
|
unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True)
|
|
|
|
unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True)
|
|
unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True)
|
|
|
|
log_types = [
|
|
LOG_GNSS_GPS_MEASUREMENT_REPORT,
|
|
LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
|
|
LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
|
|
]
|
|
pub_types = ['qcomGnss']
|
|
unpack_position, _ = dict_unpacker(position_report)
|
|
log_types.append(LOG_GNSS_POSITION_REPORT)
|
|
pub_types.append("gpsLocation")
|
|
|
|
# connect to modem
|
|
diag = ModemDiag()
|
|
|
|
# NV enable OEMDRE
|
|
# TODO: it has to reboot for this to take effect
|
|
DIAG_NV_READ_F = 38
|
|
DIAG_NV_WRITE_F = 39
|
|
NV_GNSS_OEM_FEATURE_MASK = 7165
|
|
|
|
opcode, payload = send_recv(diag, DIAG_NV_WRITE_F, pack('<HI', NV_GNSS_OEM_FEATURE_MASK, 1))
|
|
opcode, payload = send_recv(diag, DIAG_NV_READ_F, pack('<H', NV_GNSS_OEM_FEATURE_MASK))
|
|
|
|
def try_setup_logs(diag, log_types):
|
|
for _ in range(5):
|
|
try:
|
|
setup_logs(diag, log_types)
|
|
break
|
|
except Exception:
|
|
pass
|
|
|
|
def disable_logs(sig, frame):
|
|
os.system("mmcli -m 0 --location-disable-gps-raw --location-disable-gps-nmea")
|
|
cloudlog.warning("rawgpsd: shutting down")
|
|
try_setup_logs(diag, [])
|
|
cloudlog.warning("rawgpsd: logs disabled")
|
|
sys.exit(0)
|
|
signal.signal(signal.SIGINT, disable_logs)
|
|
try_setup_logs(diag, log_types)
|
|
cloudlog.warning("rawgpsd: setup logs done")
|
|
|
|
# disable DPO power savings for more accuracy
|
|
os.system("mmcli -m 0 --command='AT+QGPSCFG=\"dpoenable\",0'")
|
|
os.system("mmcli -m 0 --location-enable-gps-raw --location-enable-gps-nmea")
|
|
|
|
# enable OEMDRE mode
|
|
DIAG_SUBSYS_CMD_F = 75
|
|
DIAG_SUBSYS_GPS = 13
|
|
CGPS_DIAG_PDAPI_CMD = 0x64
|
|
CGPS_OEM_CONTROL = 202
|
|
GPSDIAG_OEMFEATURE_DRE = 1
|
|
GPSDIAG_OEM_DRE_ON = 1
|
|
|
|
# gpsdiag_OemControlReqType
|
|
opcode, payload = send_recv(diag, DIAG_SUBSYS_CMD_F, pack('<BHBBIIII',
|
|
DIAG_SUBSYS_GPS, # Subsystem Id
|
|
CGPS_DIAG_PDAPI_CMD, # Subsystem Command Code
|
|
CGPS_OEM_CONTROL, # CGPS Command Code
|
|
0, # Version
|
|
GPSDIAG_OEMFEATURE_DRE,
|
|
GPSDIAG_OEM_DRE_ON,
|
|
0,0
|
|
))
|
|
|
|
pm = messaging.PubMaster(pub_types)
|
|
|
|
while 1:
|
|
opcode, payload = diag.recv()
|
|
assert opcode == DIAG_LOG_F
|
|
(pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
|
|
if pending_msgs > 0:
|
|
cloudlog.debug("have %d pending messages" % pending_msgs)
|
|
assert log_outer_length == len(inner_log_packet)
|
|
(log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
|
|
assert log_inner_length == len(inner_log_packet)
|
|
if log_type not in log_types:
|
|
continue
|
|
if DEBUG:
|
|
print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
|
|
if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
|
|
msg = messaging.new_message('qcomGnss')
|
|
|
|
gnss = msg.qcomGnss
|
|
gnss.logTs = log_time
|
|
gnss.init('drMeasurementReport')
|
|
report = gnss.drMeasurementReport
|
|
|
|
dat = unpack_oemdre_meas(log_payload)
|
|
for k,v in dat.items():
|
|
if k in ["gpsTimeBias", "gpsClockTimeUncertainty"]:
|
|
k += "Ms"
|
|
if k == "version":
|
|
assert v == 2
|
|
elif k == "svCount" or k.startswith("cdmaClockInfo["):
|
|
# TODO: should we save cdmaClockInfo?
|
|
pass
|
|
elif k == "systemRtcValid":
|
|
setattr(report, k, bool(v))
|
|
else:
|
|
setattr(report, k, v)
|
|
|
|
report.init('sv', dat['svCount'])
|
|
sats = log_payload[size_oemdre_meas:]
|
|
for i in range(dat['svCount']):
|
|
sat = unpack_oemdre_meas_sv(sats[size_oemdre_meas_sv*i:size_oemdre_meas_sv*(i+1)])
|
|
sv = report.sv[i]
|
|
sv.init('measurementStatus')
|
|
for k,v in sat.items():
|
|
if k in ["unkn", "measurementStatus2"]:
|
|
pass
|
|
elif k == "multipathEstimateValid":
|
|
sv.measurementStatus.multipathEstimateIsValid = bool(v)
|
|
elif k == "directionValid":
|
|
sv.measurementStatus.directionIsValid = bool(v)
|
|
elif k == "goodParity":
|
|
setattr(sv, k, bool(v))
|
|
elif k == "measurementStatus":
|
|
for kk,vv in measurementStatusFields.items():
|
|
setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
|
|
else:
|
|
setattr(sv, k, v)
|
|
pm.send('qcomGnss', msg)
|
|
elif log_type == LOG_GNSS_POSITION_REPORT:
|
|
report = unpack_position(log_payload)
|
|
if report["u_PosSource"] != 2:
|
|
continue
|
|
vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
|
|
vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
|
|
|
|
msg = messaging.new_message('gpsLocation')
|
|
gps = msg.gpsLocation
|
|
gps.flags = 1
|
|
gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
|
|
gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
|
|
gps.altitude = report["q_FltFinalPosAlt"]
|
|
gps.speed = math.sqrt(sum([x**2 for x in vNED]))
|
|
gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
|
|
# TODO: this probably isn't right, use laika for this
|
|
gps.timestamp = report['w_GpsWeekNumber']*604800*1000 + report['q_GpsFixTimeMs']
|
|
gps.source = log.GpsLocationData.SensorSource.qcomdiag
|
|
gps.vNED = vNED
|
|
gps.verticalAccuracy = report["q_FltVdop"]
|
|
gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
|
|
gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
|
|
|
|
pm.send('gpsLocation', msg)
|
|
|
|
if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
|
|
msg = messaging.new_message('qcomGnss')
|
|
|
|
gnss = msg.qcomGnss
|
|
gnss.logTs = log_time
|
|
gnss.init('measurementReport')
|
|
report = gnss.measurementReport
|
|
|
|
if log_type == LOG_GNSS_GPS_MEASUREMENT_REPORT:
|
|
dat = unpack_gps_meas(log_payload)
|
|
sats = log_payload[size_gps_meas:]
|
|
unpack_meas_sv, size_meas_sv = unpack_gps_meas_sv, size_gps_meas_sv
|
|
report.source = 0 # gps
|
|
measurement_status_fields = (measurementStatusFields.items(), measurementStatusGPSFields.items())
|
|
elif log_type == LOG_GNSS_GLONASS_MEASUREMENT_REPORT:
|
|
dat = unpack_glonass_meas(log_payload)
|
|
sats = log_payload[size_glonass_meas:]
|
|
unpack_meas_sv, size_meas_sv = unpack_glonass_meas_sv, size_glonass_meas_sv
|
|
report.source = 1 # glonass
|
|
measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
|
|
else:
|
|
assert False
|
|
|
|
for k,v in dat.items():
|
|
if k == "version":
|
|
assert v == 0
|
|
elif k == "week":
|
|
report.gpsWeek = v
|
|
elif k == "svCount":
|
|
pass
|
|
else:
|
|
setattr(report, k, v)
|
|
report.init('sv', dat['svCount'])
|
|
if dat['svCount'] > 0:
|
|
assert len(sats)//dat['svCount'] == size_meas_sv
|
|
for i in range(dat['svCount']):
|
|
sv = report.sv[i]
|
|
sv.init('measurementStatus')
|
|
sat = unpack_meas_sv(sats[size_meas_sv*i:size_meas_sv*(i+1)])
|
|
for k,v in sat.items():
|
|
if k == "parityErrorCount":
|
|
sv.gpsParityErrorCount = v
|
|
elif k == "frequencyIndex":
|
|
sv.glonassFrequencyIndex = v
|
|
elif k == "hemmingErrorCount":
|
|
sv.glonassHemmingErrorCount = v
|
|
elif k == "measurementStatus":
|
|
for kk,vv in itertools.chain(*measurement_status_fields):
|
|
setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
|
|
elif k == "miscStatus":
|
|
for kk,vv in miscStatusFields.items():
|
|
setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
|
|
elif k == "pad":
|
|
pass
|
|
else:
|
|
setattr(sv, k, v)
|
|
|
|
pm.send('qcomGnss', msg)
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|