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Laikad: catch and log ephemerides parsing errors (#27698)

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* Laikad: catch and log ephemerides parsing errors

* exception instead of error
This commit is contained in:
Harald Schäfer
2023-03-26 22:17:30 -07:00
committed by GitHub
parent 083f008d94
commit b418cbcbcf
1 changed files with 17 additions and 5 deletions
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selfdrive/locationd/laikad.py
+17 -5
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@@ -220,18 +220,30 @@ class Laikad:
# TODO this is not robust to gps week rollover
if self.gps_week is None:
return
ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
try:
ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
except Exception as e:
cloudlog.exception(f"Error parsing qcom svPoly ephemeris from qcom module: {e}")
return
else:
if gnss_msg.which() == 'ephemeris':
data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
ephem = GPSEphemeris(data_struct, file_name='ublox')
try:
ephem = GPSEphemeris(data_struct, file_name='ublox')
except Exception as e:
cloudlog.exception(f"Error parsing GPS ephemeris from ublox: {e}")
return
elif gnss_msg.which() == 'glonassEphemeris':
data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
ephem = GLONASSEphemeris(data_struct, file_name='ublox')
try:
ephem = GLONASSEphemeris(data_struct, file_name='ublox')
except Exception as e:
cloudlog.exception(f"Error parsing GLONASS ephemeris from ublox: {e}")
return
else:
cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
cloudlog.exception(f"Unsupported ephemeris type: {gnss_msg.which()}")
return
self.astro_dog.add_navs({ephem.prn: [ephem]})
self.cache_ephemeris()