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284 lines
10 KiB
284 lines
10 KiB
#!/usr/bin/env python3
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import os
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import sys
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import signal
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import itertools
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import math
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import time
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from typing import NoReturn
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from struct import unpack_from, calcsize, pack
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import cereal.messaging as messaging
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from cereal import log
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from system.swaglog import cloudlog
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from laika.gps_time import GPSTime
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from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
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from selfdrive.sensord.rawgps.structs import dict_unpacker
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from selfdrive.sensord.rawgps.structs import gps_measurement_report, gps_measurement_report_sv
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from selfdrive.sensord.rawgps.structs import glonass_measurement_report, glonass_measurement_report_sv
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from selfdrive.sensord.rawgps.structs import oemdre_measurement_report, oemdre_measurement_report_sv
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from selfdrive.sensord.rawgps.structs import LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT
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from selfdrive.sensord.rawgps.structs import position_report, LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT
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DEBUG = int(os.getenv("DEBUG", "0"))==1
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miscStatusFields = {
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"multipathEstimateIsValid": 0,
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"directionIsValid": 1,
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}
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measurementStatusFields = {
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"subMillisecondIsValid": 0,
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"subBitTimeIsKnown": 1,
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"satelliteTimeIsKnown": 2,
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"bitEdgeConfirmedFromSignal": 3,
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"measuredVelocity": 4,
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"fineOrCoarseVelocity": 5,
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"lockPointValid": 6,
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"lockPointPositive": 7,
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"lastUpdateFromDifference": 9,
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"lastUpdateFromVelocityDifference": 10,
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"strongIndicationOfCrossCorelation": 11,
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"tentativeMeasurement": 12,
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"measurementNotUsable": 13,
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"sirCheckIsNeeded": 14,
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"probationMode": 15,
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"multipathIndicator": 24,
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"imdJammingIndicator": 25,
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"lteB13TxJammingIndicator": 26,
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"freshMeasurementIndicator": 27,
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}
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measurementStatusGPSFields = {
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"gpsRoundRobinRxDiversity": 18,
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"gpsRxDiversity": 19,
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"gpsLowBandwidthRxDiversityCombined": 20,
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"gpsHighBandwidthNu4": 21,
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"gpsHighBandwidthNu8": 22,
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"gpsHighBandwidthUniform": 23,
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}
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measurementStatusGlonassFields = {
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"glonassMeanderBitEdgeValid": 16,
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"glonassTimeMarkValid": 17
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}
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def main() -> NoReturn:
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unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
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unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
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unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True)
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unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True)
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unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True)
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unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True)
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log_types = [
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LOG_GNSS_GPS_MEASUREMENT_REPORT,
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LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
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LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
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]
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pub_types = ['qcomGnss']
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unpack_position, _ = dict_unpacker(position_report)
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log_types.append(LOG_GNSS_POSITION_REPORT)
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pub_types.append("gpsLocation")
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# connect to modem
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diag = ModemDiag()
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# NV enable OEMDRE
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# TODO: it has to reboot for this to take effect
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DIAG_NV_READ_F = 38
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DIAG_NV_WRITE_F = 39
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NV_GNSS_OEM_FEATURE_MASK = 7165
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opcode, payload = send_recv(diag, DIAG_NV_WRITE_F, pack('<HI', NV_GNSS_OEM_FEATURE_MASK, 1))
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opcode, payload = send_recv(diag, DIAG_NV_READ_F, pack('<H', NV_GNSS_OEM_FEATURE_MASK))
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def try_setup_logs(diag, log_types):
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for _ in range(5):
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try:
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setup_logs(diag, log_types)
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break
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except Exception:
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pass
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def disable_logs(sig, frame):
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os.system("mmcli -m 0 --location-disable-gps-raw --location-disable-gps-nmea")
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cloudlog.warning("rawgpsd: shutting down")
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try_setup_logs(diag, [])
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cloudlog.warning("rawgpsd: logs disabled")
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sys.exit(0)
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signal.signal(signal.SIGINT, disable_logs)
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try_setup_logs(diag, log_types)
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cloudlog.warning("rawgpsd: setup logs done")
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# disable DPO power savings for more accuracy
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os.system("mmcli -m 0 --command='AT+QGPSCFG=\"dpoenable\",0'")
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os.system("mmcli -m 0 --location-enable-gps-raw --location-enable-gps-nmea")
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# enable OEMDRE mode
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DIAG_SUBSYS_CMD_F = 75
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DIAG_SUBSYS_GPS = 13
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CGPS_DIAG_PDAPI_CMD = 0x64
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CGPS_OEM_CONTROL = 202
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GPSDIAG_OEMFEATURE_DRE = 1
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GPSDIAG_OEM_DRE_ON = 1
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# gpsdiag_OemControlReqType
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opcode, payload = send_recv(diag, DIAG_SUBSYS_CMD_F, pack('<BHBBIIII',
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DIAG_SUBSYS_GPS, # Subsystem Id
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CGPS_DIAG_PDAPI_CMD, # Subsystem Command Code
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CGPS_OEM_CONTROL, # CGPS Command Code
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0, # Version
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GPSDIAG_OEMFEATURE_DRE,
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GPSDIAG_OEM_DRE_ON,
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0,0
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))
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pm = messaging.PubMaster(pub_types)
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while 1:
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opcode, payload = diag.recv()
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assert opcode == DIAG_LOG_F
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(pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
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if pending_msgs > 0:
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cloudlog.debug("have %d pending messages" % pending_msgs)
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assert log_outer_length == len(inner_log_packet)
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(log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
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assert log_inner_length == len(inner_log_packet)
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if log_type not in log_types:
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continue
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if DEBUG:
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print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
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if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
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msg = messaging.new_message('qcomGnss')
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gnss = msg.qcomGnss
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gnss.logTs = log_time
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gnss.init('drMeasurementReport')
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report = gnss.drMeasurementReport
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dat = unpack_oemdre_meas(log_payload)
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for k,v in dat.items():
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if k in ["gpsTimeBias", "gpsClockTimeUncertainty"]:
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k += "Ms"
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if k == "version":
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assert v == 2
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elif k == "svCount" or k.startswith("cdmaClockInfo["):
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# TODO: should we save cdmaClockInfo?
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pass
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elif k == "systemRtcValid":
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setattr(report, k, bool(v))
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else:
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setattr(report, k, v)
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report.init('sv', dat['svCount'])
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sats = log_payload[size_oemdre_meas:]
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for i in range(dat['svCount']):
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sat = unpack_oemdre_meas_sv(sats[size_oemdre_meas_sv*i:size_oemdre_meas_sv*(i+1)])
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sv = report.sv[i]
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sv.init('measurementStatus')
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for k,v in sat.items():
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if k in ["unkn", "measurementStatus2"]:
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pass
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elif k == "multipathEstimateValid":
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sv.measurementStatus.multipathEstimateIsValid = bool(v)
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elif k == "directionValid":
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sv.measurementStatus.directionIsValid = bool(v)
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elif k == "goodParity":
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setattr(sv, k, bool(v))
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elif k == "measurementStatus":
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for kk,vv in measurementStatusFields.items():
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setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
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else:
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setattr(sv, k, v)
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pm.send('qcomGnss', msg)
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elif log_type == LOG_GNSS_POSITION_REPORT:
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report = unpack_position(log_payload)
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if report["u_PosSource"] != 2:
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continue
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vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
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vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
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msg = messaging.new_message('gpsLocation')
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gps = msg.gpsLocation
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gps.flags = 1
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gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
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gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
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gps.altitude = report["q_FltFinalPosAlt"]
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gps.speed = math.sqrt(sum([x**2 for x in vNED]))
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gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
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gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'],
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1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3
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gps.source = log.GpsLocationData.SensorSource.qcomdiag
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gps.vNED = vNED
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gps.verticalAccuracy = report["q_FltVdop"]
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gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
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gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
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pm.send('gpsLocation', msg)
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if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
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msg = messaging.new_message('qcomGnss')
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gnss = msg.qcomGnss
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gnss.logTs = log_time
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gnss.init('measurementReport')
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report = gnss.measurementReport
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if log_type == LOG_GNSS_GPS_MEASUREMENT_REPORT:
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dat = unpack_gps_meas(log_payload)
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sats = log_payload[size_gps_meas:]
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unpack_meas_sv, size_meas_sv = unpack_gps_meas_sv, size_gps_meas_sv
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report.source = 0 # gps
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measurement_status_fields = (measurementStatusFields.items(), measurementStatusGPSFields.items())
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elif log_type == LOG_GNSS_GLONASS_MEASUREMENT_REPORT:
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dat = unpack_glonass_meas(log_payload)
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sats = log_payload[size_glonass_meas:]
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unpack_meas_sv, size_meas_sv = unpack_glonass_meas_sv, size_glonass_meas_sv
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report.source = 1 # glonass
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measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
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else:
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assert False
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for k,v in dat.items():
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if k == "version":
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assert v == 0
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elif k == "week":
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report.gpsWeek = v
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elif k == "svCount":
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pass
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else:
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setattr(report, k, v)
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report.init('sv', dat['svCount'])
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if dat['svCount'] > 0:
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assert len(sats)//dat['svCount'] == size_meas_sv
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for i in range(dat['svCount']):
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sv = report.sv[i]
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sv.init('measurementStatus')
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sat = unpack_meas_sv(sats[size_meas_sv*i:size_meas_sv*(i+1)])
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for k,v in sat.items():
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if k == "parityErrorCount":
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sv.gpsParityErrorCount = v
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elif k == "frequencyIndex":
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sv.glonassFrequencyIndex = v
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elif k == "hemmingErrorCount":
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sv.glonassHemmingErrorCount = v
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elif k == "measurementStatus":
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for kk,vv in itertools.chain(*measurement_status_fields):
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setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
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elif k == "miscStatus":
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for kk,vv in miscStatusFields.items():
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setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
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elif k == "pad":
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pass
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else:
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setattr(sv, k, v)
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pm.send('qcomGnss', msg)
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if __name__ == "__main__":
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main()
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