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auto-detect pigeon or quectel (#25991)

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* auto-detect pigeon or quectel

* persistent

* fix sim

* fix process replay

* fix locationd unit tests

* fix that

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2022-10-06 16:46:15 -07:00
committed by GitHub
parent cf1e978ad1
commit 01d05f66fe
9 changed files with 24 additions and 13 deletions
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tools/sim/bridge.py
+5 -2
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@@ -244,11 +244,13 @@ class CarlaBridge:
def __init__(self, arguments):
set_params_enabled()
self.params = Params()
msg = messaging.new_message('liveCalibration')
msg.liveCalibration.validBlocks = 20
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
Params().put("CalibrationParams", msg.to_bytes())
Params().put_bool("WideCameraOnly", not arguments.dual_camera)
self.params.put("CalibrationParams", msg.to_bytes())
self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
self._args = arguments
self._carla_objects = []
@@ -363,6 +365,7 @@ class CarlaBridge:
gps_bp = blueprint_library.find('sensor.other.gnss')
gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
gps.listen(lambda gps: gps_callback(gps, vehicle_state))
self.params.put_bool("UbloxAvailable", True)
self._carla_objects.extend([imu, gps])
# launch fake car threads