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controlsd: use livePose (#33283)

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* Pose calibrator

* Fix static analysis

* Fix static

* Fix test_latcontrol

* Fix test_latcontrol

* Update services in process replay

* Fix static

* Matmul not mul

* Add assertion

* Move pose calibration to data_sample

* Update ref commit

* Remove llk from cycle alerts

* Deprecated nogps event

* Switch power_draw to lp

* Bring back noGps alert

* Add handling code back

* get_bool

* Bring inputsok back
old-commit-hash: 9734015bbb6d448bb6b0fb453370ec702fa73106
This commit is contained in:
Kacper Rączy
2024-08-13 21:11:16 -07:00
committed by GitHub
parent 1b73a341e4
commit 80bc61dc6c
15 changed files with 148 additions and 74 deletions
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common/mock/__init__.py
+2 -2
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@@ -8,12 +8,12 @@ import functools
import threading
from cereal.messaging import PubMaster
from cereal.services import SERVICE_LIST
from openpilot.common.mock.generators import generate_liveLocationKalman
from openpilot.common.mock.generators import generate_livePose
from openpilot.common.realtime import Ratekeeper
MOCK_GENERATOR = {
"liveLocationKalman": generate_liveLocationKalman
"livePose": generate_livePose
}
common/mock/generators.py
+10 -16
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@@ -1,20 +1,14 @@
from cereal import messaging
LOCATION1 = (32.7174, -117.16277)
LOCATION2 = (32.7558, -117.2037)
LLK_DECIMATION = 10
RENDER_FRAMES = 15
DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
def generate_liveLocationKalman(location=LOCATION1):
msg = messaging.new_message('liveLocationKalman')
msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
msg.liveLocationKalman.status = 'valid'
msg.liveLocationKalman.gpsOK = True
def generate_livePose():
msg = messaging.new_message('livePose')
meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
msg.livePose.orientationNED = meas
msg.livePose.velocityDevice = meas
msg.livePose.angularVelocityDevice = meas
msg.livePose.accelerationDevice = meas
msg.livePose.inputsOK = True
msg.livePose.posenetOK = True
msg.livePose.sensorsOK = True
return msg