public OperationalVehicleState GetVehicleState()
{
DatasetSource ds = Services.Dataset;
return(new OperationalVehicleState(
ds.ItemAs <double>("speed").CurrentValue,
ds.ItemAs <double>("actual steering").CurrentValue,
ds.ItemAs <TransmissionGear>("transmission gear").CurrentValue,
ds.ItemAs <double>("pitch").CurrentValue,
ds.ItemAs <double>("brake pressure").CurrentValue,
ds.ItemAs <double>("engine torque").CurrentValue,
ds.ItemAs <double>("rpm").CurrentValue,
ds.ItemAs <double>("pedal position").CurrentValue,
ds.ItemAs <double>("actual steering").CurrentTime));
}
void client_PoseAbsReceived(object sender, PoseAbsReceivedEventArgs e)
{
packetCount++;
Services.Dataset.MarkOperation("pose rate", LocalCarTimeProvider.LocalNow);
//OperationalTrace.WriteVerbose("got absolute pose for time {0}", e.PoseAbsData.timestamp);
if (lastPacketTime.ts > e.PoseAbsData.timestamp.ts)
{
lastPacketTime = new CarTimestamp(-10000);
}
if (e.PoseAbsData.timestamp.ts - lastPacketTime.ts >= 0.02)
{
DatasetSource ds = Services.Dataset;
PoseAbsData d = e.PoseAbsData;
CarTimestamp now = e.PoseAbsData.timestamp;
if (Services.Projection != null)
{
Coordinates xy = Services.Projection.ECEFtoXY(new Vector3(d.ecef_px, d.ecef_py, d.ecef_pz));
ds.ItemAs <Coordinates>("xy").Add(xy, now);
AbsolutePose absPose = new AbsolutePose(xy, d.yaw, now);
Services.AbsolutePose.PushAbsolutePose(absPose);
}
if (!Settings.UseWheelSpeed)
{
ds.ItemAs <double>("speed").Add(d.veh_vx, now);
}
ds.ItemAs <double>("vel - y").Add(d.veh_vy, now);
ds.ItemAs <double>("heading").Add(BiasEstimator.CorrectHeading(d.yaw), now);
ds.ItemAs <double>("pitch").Add(d.pitch + 1.25 * Math.PI / 180.0, now);
ds.ItemAs <double>("roll").Add(d.roll, now);
ds.ItemAs <double>("ba - x").Add(d.bax, now);
ds.ItemAs <double>("ba - y").Add(d.bay, now);
ds.ItemAs <double>("ba - z").Add(d.baz, now);
ds.ItemAs <double>("bw - x").Add(d.bwx, now);
ds.ItemAs <double>("bw - y").Add(d.bwy, now);
ds.ItemAs <double>("bw - z").Add(d.bwz, now);
ds.ItemAs <PoseCorrectionMode>("correction mode").Add(d.correction_mode, now);
LLACoord lla = WGS84.ECEFtoLLA(new Vector3(d.ecef_px, d.ecef_py, d.ecef_pz));
ds.ItemAs <double>("altitude").Add(lla.alt, now);
if (Services.Projection != null)
{
ds.ItemAs <Coordinates>("gps xy").Add(Services.Projection.ECEFtoXY(new Vector3(d.gps_px, d.gps_py, d.gps_pz)), now);
ds.ItemAs <Coordinates>("hp xy").Add(Services.Projection.ECEFtoXY(new Vector3(d.hp_px, d.hp_py, d.hp_pz)), now);
}
ds.ItemAs <double>("sep heading").Add(d.sep_heading, now);
ds.ItemAs <double>("sep pitch").Add(d.sep_pitch, now);
ds.ItemAs <double>("sep roll").Add(d.sep_roll, now);
if (!double.IsNaN(lastYawRate) && lastPacketTime.ts > 0)
{
// get the enu velocity
Vector3 pECEF = new Vector3(d.ecef_px, d.ecef_py, d.ecef_pz);
Vector3 vECEF = new Vector3(d.ecef_vx, d.ecef_vy, d.ecef_vz);
Matrix3 Recef2enu = Geocentric.Recef2enu(pECEF);
Vector3 vENU = Recef2enu * vECEF;
BiasEstimator.Update(lastYawRate, d.yaw, vENU, now.ts - lastPacketTime.ts, now);
Services.Dataset.ItemAs <double>("heading bias").Add(BiasEstimator.HeadingBias, now);
}
lastPacketTime = now;
}
}
void IChannelListener.MessageArrived(string channelName, object message)
{
if (message is OperationalSimVehicleState)
{
OperationalTrace.ThreadTraceSource = TraceSource;
Trace.CorrelationManager.StartLogicalOperation("simstate callback");
try {
OperationalSimVehicleState state = (OperationalSimVehicleState)message;
DatasetSource ds = Services.Dataset;
OperationalTrace.WriteVerbose("received operational sim state, t = {0}", state.Timestamp);
Services.Dataset.MarkOperation("pose rate", LocalCarTimeProvider.LocalNow);
CarTimestamp now = state.Timestamp;
ds.ItemAs <Coordinates>("xy").Add(state.Position, now);
ds.ItemAs <double>("speed").Add(state.Speed, now);
ds.ItemAs <double>("heading").Add(state.Heading, now);
ds.ItemAs <double>("actual steering").Add(state.SteeringAngle, now);
ds.ItemAs <TransmissionGear>("transmission gear").Add(state.TransmissionGear, now);
ds.ItemAs <double>("engine torque").Add(state.EngineTorque, now);
ds.ItemAs <double>("brake pressure").Add(state.BrakePressure, now);
ds.ItemAs <double>("rpm").Add(state.EngineRPM, now);
if (state.TransmissionGear != lastRecvTransGear)
{
ds.ItemAs <DateTime>("trans gear change time").Add(HighResDateTime.Now, now);
lastRecvTransGear = state.TransmissionGear;
}
lastCarMode = state.CarMode;
if (CarModeChanged != null)
{
CarModeChanged(this, new CarModeChangedEventArgs(lastCarMode, now));
}
// build the current relative pose matrix
Matrix4 relativePose = Matrix4.Translation(state.Position.X, state.Position.Y, 0) * Matrix4.YPR(state.Heading, 0, 0);
relativePose = relativePose.Inverse();
// push on to the relative pose stack
Services.RelativePose.PushTransform(now, relativePose);
// push the current absolute pose entry
AbsolutePose absPose = new AbsolutePose(state.Position, state.Heading, now);
Services.AbsolutePose.PushAbsolutePose(absPose);
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
OperationalTrace.ThreadTraceSource = null;
}
}
else if (message is SceneEstimatorUntrackedClusterCollection)
{
// push to obstacle pipeline
Services.ObstaclePipeline.OnUntrackedClustersReceived(((SceneEstimatorUntrackedClusterCollection)message));
}
else if (message is SceneEstimatorTrackedClusterCollection)
{
Services.ObstaclePipeline.OnTrackedClustersReceived((SceneEstimatorTrackedClusterCollection)message);
}
}