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100 lines
3.4 KiB
100 lines
3.4 KiB
#pragma once
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#include <eigen3/Eigen/Dense>
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#include <deque>
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#include <fstream>
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#include <memory>
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#include <map>
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#include <string>
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#include "cereal/messaging/messaging.h"
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#include "common/transformations/coordinates.hpp"
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#include "common/transformations/orientation.hpp"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "common/util.h"
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#include "system/sensord/sensors/constants.h"
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#define VISION_DECIMATION 2
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#define SENSOR_DECIMATION 10
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#include "selfdrive/locationd/models/live_kf.h"
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#define POSENET_STD_HIST_HALF 20
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enum LocalizerGnssSource {
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UBLOX, QCOM
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};
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class Localizer {
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public:
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Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
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int locationd_thread();
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void reset_kalman(double current_time = NAN);
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void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
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void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
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void finite_check(double current_time = NAN);
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void time_check(double current_time = NAN);
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void update_reset_tracker();
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bool is_gps_ok();
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bool critical_services_valid(const std::map<std::string, double> &critical_services);
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bool is_timestamp_valid(double current_time);
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void determine_gps_mode(double current_time);
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bool are_inputs_ok();
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void observation_timings_invalid_reset();
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kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
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bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
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void build_live_location(cereal::LiveLocationKalman::Builder& fix);
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Eigen::VectorXd get_position_geodetic();
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Eigen::VectorXd get_state();
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Eigen::VectorXd get_stdev();
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void handle_msg_bytes(const char *data, const size_t size);
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void handle_msg(const cereal::Event::Reader& log);
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void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
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void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
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void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
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void handle_car_state(double current_time, const cereal::CarState::Reader& log);
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void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
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void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
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void input_fake_gps_observations(double current_time);
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private:
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std::unique_ptr<LiveKalman> kf;
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Eigen::VectorXd calib;
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MatrixXdr device_from_calib;
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MatrixXdr calib_from_device;
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bool calibrated = false;
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double car_speed = 0.0;
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double last_reset_time = NAN;
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std::deque<double> posenet_stds;
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std::unique_ptr<LocalCoord> converter;
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int64_t unix_timestamp_millis = 0;
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double reset_tracker = 0.0;
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bool device_fell = false;
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bool gps_mode = false;
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double first_valid_log_time = NAN;
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double ttff = NAN;
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double last_gps_msg = 0;
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LocalizerGnssSource gnss_source;
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bool observation_timings_invalid = false;
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std::map<std::string, double> observation_values_invalid;
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bool standstill = true;
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int32_t orientation_reset_count = 0;
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float gps_std_factor;
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float gps_variance_factor;
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float gps_vertical_variance_factor;
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double gps_time_offset;
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Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
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void configure_gnss_source(const LocalizerGnssSource &source);
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};
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