Sensor events splitup (#25714)

* PoC of reading sensors via interrupts instead of polling

* add Gyro and draft for magn

* add more functionality to gpio.cc

* change LSM gyro to interrupt

* resolve rebase conflict

* update BMX accel interrupt impl

* add interrupt collector thread to fetch in parallel

* change get_event interface to return true on successful read

* update BMX gyro interrupt impl

* update gpio.h/.cc according to comments

* address comments, rename Edgetype enum

* Edgetype to EdgeType

* update sensor interrupt interface

* add error handling, and read fd on trigger

* avoid sending empty messages

* fix build

* use gpiochip

* less diff

* gpiochip on both edges, but skip falling edge if rising edge is detected

* init last_ts with 0

* update sensord testcases

* update sensord testsweet

* test for pipeline

* readd with_process

* add null check

* move tests update to seperate PR

* sensord: improve test coverage (#25683)

* update sensord-interrupt testsweet

* address review comments

* inc stddev threshold

* fix format string

* add version 0 check again

* relax strictness after c3 with bmx tests

* relax strictness after tests

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

* address PR comments

* fix typo

* remove 4ms limit, and skip first 0.5sec of data

* revert disable_interuppt change to destructor

* fix and remove timing skip

* make gpiochip generic

* sensord port

* change from sensorEvents to separated events

* fix gyro usage

* add splitted sensor tests

* modify debug script sensor_data_to_hist.py

* refactor get_event interface to remove sensorEvent message type

* update locationd to non sensorEvent usage

* tmp commit

* fix replay

* fix accelerometer type

* fix sensor to hist debug script

* update sensord tests to split events

* remove rebase artifacts

* port test_sensord.py

* small clean up

* change cereal to sensorEvents-splitup branch

* upate sensorEvents in regen

* fix route generation for splitted sensor events

* regen cleanUp from sensorEvents change

* .

* remove light and temp from locationd

* add generic init delay per sensor

* .

* update routes

* move bmx gyro/accel to its own channel

* adopt sensor tests to bmx channel

* remove rebase artifacts

* fix sensord test

* handle bmx not present

* add bmx sockets to regen

* .

* .

* code cleanUp

* .

* address PR comments

* address PR comments

* address PR comments

* lsm clean up

* readd sensorEvents

* rever regen.py

* .

* update replay refs

* move channels

* fix artifact

* bump cereal

* update refs

* fix timing issue

Co-authored-by: Bruce Wayne <batman@workstation-eu-intern2.eu.local>
Co-authored-by: gast04 <kurt.nistelberger@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 29d3ed2ce6

selfdrive/debug/sensor_data_to_hist.py

@@ -7,6 +7,7 @@ get interrupts in a 2kHz rate.
 
 import argparse
 import sys
+import numpy as np
 from collections import defaultdict
 
 from tools.lib.logreader import LogReader
@@ -23,28 +24,22 @@ def parseEvents(log_reader):
   lsm_data = defaultdict(list)
 
   for m in log_reader:
-    # only sensorEvents
-    if m.which() != 'sensorEvents':
+    if m.which() not in ['accelerometer', 'gyroscope']:
       continue
 
-    for se in m.sensorEvents:
-      # convert data to dictionary
-      d = se.to_dict()
+    d = getattr(m, m.which()).to_dict()
 
-      if d["timestamp"] == 0:
-        continue # empty event?
+    if d["source"] == SRC_BMX and "acceleration" in d:
+      bmx_data["accel"].append(d["timestamp"] / 1e9)
 
-      if d["source"] == SRC_BMX and "acceleration" in d:
-        bmx_data["accel"].append(d["timestamp"] / 1e9)
+    if d["source"] == SRC_BMX and "gyroUncalibrated" in d:
+      bmx_data["gyro"].append(d["timestamp"] / 1e9)
 
-      if d["source"] == SRC_BMX and "gyroUncalibrated" in d:
-        bmx_data["gyro"].append(d["timestamp"] / 1e9)
+    if d["source"] == SRC_LSM and "acceleration" in d:
+      lsm_data["accel"].append(d["timestamp"] / 1e9)
 
-      if d["source"] == SRC_LSM and "acceleration" in d:
-        lsm_data["accel"].append(d["timestamp"] / 1e9)
-
-      if d["source"] == SRC_LSM and "gyroUncalibrated" in d:
-        lsm_data["gyro"].append(d["timestamp"] / 1e9)
+    if d["source"] == SRC_LSM and "gyroUncalibrated" in d:
+      lsm_data["gyro"].append(d["timestamp"] / 1e9)
 
   return bmx_data, lsm_data
 
@@ -54,11 +49,7 @@ def cleanData(data):
     return [], []
 
   data.sort()
-  prev = data[0]
-  diffs = []
-  for v in data[1:]:
-    diffs.append(v - prev)
-    prev = v
+  diffs = np.diff(data)
   return data, diffs
 
 
@@ -118,4 +109,3 @@ if __name__ == "__main__":
 
   print("check plot...")
   plt.show()
-