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locationd and paramsd using cython version of ekfsym (#20610)

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* Locationd live_kf using c++ kalman filter

* use both cpp and python live_kf to compare

* Locationd using ekfsym cpp

* Paramsd using c++ ekf_sym

* Other building method

* Cleanup

* cleanup

* Single sconscript for rednose and locationd/models

* CI

* CI

* CI fix

* renamed scons config

* Fix lib loading

* bump rednose

* update cpu usage test
old-commit-hash: e6a8157916
This commit is contained in:
Joost Wooning
2021-04-08 13:09:11 +02:00
committed by GitHub
parent 48af882988
commit ff9840c53f
9 changed files with 60 additions and 71 deletions
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@@ -356,6 +356,28 @@ else:
Export('common', 'gpucommon', 'visionipc')
# Build rednose library and ekf models
rednose_config = {
'generated_folder': '#selfdrive/locationd/models/generated',
'to_build': {
'live': ('#selfdrive/locationd/models/live_kf.py', True),
'car': ('#selfdrive/locationd/models/car_kf.py', True),
},
}
if arch != "aarch64":
rednose_config['to_build'].update({
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True),
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True),
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False),
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False),
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False),
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True),
})
Export('rednose_config')
SConscript(['rednose/SConscript'])
# Build openpilot
@@ -384,7 +406,6 @@ SConscript(['selfdrive/clocksd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/locationd/models/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])