IQ.Pilot Release Commit @ b6534c0

iqpilot/selfdrive/iqlocd/atlas_loc_core.h

@@ -0,0 +1,101 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+#include <deque>
+#include <fstream>
+#include <memory>
+#include <map>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+#include "iqpilot/common/transformations/coordinates.hpp"
+#include "iqpilot/common/transformations/orientation.hpp"
+#include "iqpilot/selfdrive/iqlocd/models/orbit_kf.h"
+#include "iqpilot/selfdrive/iqlocd/sensor_event_constants.h"
+
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#define POSENET_STD_HIST_HALF 20
+
+enum AtlasGnssMode {
+  UBLOX, QCOM
+};
+
+class AtlasLocator {
+public:
+  AtlasLocator(AtlasGnssMode gnss_source = AtlasGnssMode::UBLOX);
+
+  int run();
+
+  void reset_kalman(double current_time = NAN);
+  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);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
+  void run_finite_guard(double current_time = NAN);
+  void run_time_guard(double current_time = NAN);
+  void cool_reset_tracker();
+  bool gps_ready();
+  bool critical_services_ok(const std::map<std::string, double> &critical_services);
+  bool timestamp_ok(double current_time);
+  void refresh_gps_mode(double current_time);
+  bool inputs_are_ready();
+  void clear_observation_timing_fault();
+
+  kj::ArrayPtr<capnp::byte> pack_state_message(MessageBuilder& msg_builder,
+    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void populate_location_packet(cereal::IQLiveLocation::Builder& fix);
+
+  Eigen::VectorXd current_geodetic();
+  Eigen::VectorXd current_state_vector();
+  Eigen::VectorXd current_sigma_vector();
+
+  void consume_bytes(const char *data, const size_t size);
+  void consume_event(const cereal::Event::Reader& log);
+  void consume_sensor_frame(double current_time, const cereal::SensorEventData::Reader& log);
+  void consume_gps_frame(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
+  void consume_gnss_frame(double current_time, const cereal::GnssMeasurements::Reader& log);
+  void consume_car_state_frame(double current_time, const cereal::CarState::Reader& log);
+  void consume_camera_odometry(double current_time, const cereal::CameraOdometry::Reader& log);
+  void consume_live_calibration(double current_time, const cereal::ExtrinsicsCalibration::Reader& log);
+
+  void seed_fake_gps_observations(double current_time);
+
+private:
+  std::unique_ptr<OrbitKalman> kf;
+
+  Eigen::VectorXd calib;
+  MatrixXdr device_from_calib;
+  MatrixXdr calib_from_device;
+  bool calibrated = false;
+
+  double car_speed = 0.0;
+  double last_reset_time = NAN;
+  std::deque<double> posenet_stds;
+
+  std::unique_ptr<LocalCoord> converter;
+
+  int64_t unix_timestamp_millis = 0;
+  double reset_tracker = 0.0;
+  bool device_fell = false;
+  bool gps_mode = false;
+  double first_valid_log_time = NAN;
+  double ttff = NAN;
+  double last_gps_msg = 0;
+  double last_gps_param_time = NAN;
+  AtlasGnssMode gnss_source;
+  bool observation_timings_invalid = false;
+  std::map<std::string, double> observation_values_invalid;
+  bool standstill = true;
+  int32_t orientation_reset_count = 0;
+  float gps_std_factor;
+  float gps_variance_factor;
+  float gps_vertical_variance_factor;
+  double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
+
+  void tune_gnss_source(const AtlasGnssMode &source);
+};