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144 lines
4.3 KiB
144 lines
4.3 KiB
#include <future>
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#include <iostream>
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#include <cassert>
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#include <csignal>
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#include <unistd.h>
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#include <capnp/serialize-packed.h>
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#include "json11.hpp"
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#include "common/swaglog.h"
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#include "common/messaging.h"
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#include "common/params.h"
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#include "common/timing.h"
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#include "messaging.hpp"
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#include "locationd_yawrate.h"
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#include "params_learner.h"
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#include "common/util.h"
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void sigpipe_handler(int sig) {
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LOGE("SIGPIPE received");
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}
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int main(int argc, char *argv[]) {
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signal(SIGPIPE, (sighandler_t)sigpipe_handler);
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SubMaster sm({"controlsState", "sensorEvents", "cameraOdometry"});
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PubMaster pm({"liveParameters"});
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Localizer localizer;
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// Read car params
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char *value;
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size_t value_sz = 0;
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LOGW("waiting for params to set vehicle model");
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while (true) {
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read_db_value("CarParams", &value, &value_sz);
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if (value_sz > 0) break;
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usleep(100*1000);
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}
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LOGW("got %d bytes CarParams", value_sz);
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// make copy due to alignment issues
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auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), value, value_sz);
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free(value);
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capnp::FlatArrayMessageReader cmsg(amsg);
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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// Read params from previous run
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const int result = read_db_value("LiveParameters", &value, &value_sz);
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std::string fingerprint = car_params.getCarFingerprint();
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std::string vin = car_params.getCarVin();
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double sR = car_params.getSteerRatio();
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double x = 1.0;
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double ao = 0.0;
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double posenet_invalid_count = 0;
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if (result == 0){
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auto str = std::string(value, value_sz);
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free(value);
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std::string err;
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auto json = json11::Json::parse(str, err);
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if (json.is_null() || !err.empty()) {
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std::string log = "Error parsing json: " + err;
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LOGW(log.c_str());
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} else {
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std::string new_fingerprint = json["carFingerprint"].string_value();
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std::string new_vin = json["carVin"].string_value();
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if (fingerprint == new_fingerprint && vin == new_vin) {
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std::string log = "Parameter starting with: " + str;
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LOGW(log.c_str());
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sR = json["steerRatio"].number_value();
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x = json["stiffnessFactor"].number_value();
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ao = json["angleOffsetAverage"].number_value();
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}
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}
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}
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ParamsLearner learner(car_params, ao, x, sR, 1.0);
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// Main loop
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int save_counter = 0;
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while (true){
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if (sm.update(100) == 0) continue;
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if (sm.updated("controlsState")){
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localizer.handle_log(sm["controlsState"]);
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save_counter++;
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double yaw_rate = -localizer.x[0];
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bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle);
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double angle_offset_degrees = RADIANS_TO_DEGREES * learner.ao;
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double angle_offset_average_degrees = RADIANS_TO_DEGREES * learner.slow_ao;
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto live_params = event.initLiveParameters();
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live_params.setValid(valid);
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live_params.setYawRate(localizer.x[0]);
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live_params.setGyroBias(localizer.x[1]);
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live_params.setAngleOffset(angle_offset_degrees);
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live_params.setAngleOffsetAverage(angle_offset_average_degrees);
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live_params.setStiffnessFactor(learner.x);
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live_params.setSteerRatio(learner.sR);
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pm.send("liveParameters", msg);
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// Save parameters every minute
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if (save_counter % 6000 == 0) {
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json11::Json json = json11::Json::object {
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{"carVin", vin},
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{"carFingerprint", fingerprint},
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{"steerRatio", learner.sR},
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{"stiffnessFactor", learner.x},
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{"angleOffsetAverage", angle_offset_average_degrees},
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};
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std::string out = json.dump();
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std::async(std::launch::async,
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[out]{
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write_db_value("LiveParameters", out.c_str(), out.length());
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});
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}
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}
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if (sm.updated("sensorEvents")){
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localizer.handle_log(sm["sensorEvents"]);
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}
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if (sm.updated("cameraOdometry")){
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localizer.handle_log(sm["cameraOdometry"]);
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}
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}
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return 0;
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}
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