u2/location.cpp at master · marschr/u2 · GitHub

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// #include <QObject>
// #include <QThread>
// #include <QReadWriteLock>

// #include "../repos/cereal/messaging/messaging.hpp"

#include "location.h"

Location::Location(){
    qDebug() << "Location constuct()!";
    m_sm = new SubMaster({"modelV2", "controlsState", "gpsLocationExternal"});
    // m_sm = new SubMaster({"thermal","controlsState"});

}

Location::~Location(){
}

void Location::handle_message(){
    qDebug() << "handle_message()!";
    SubMaster sm = *(m_sm);

    // GpsLocationData


    long frameIdx;


    while (1){

        if (sm.update(0) > 0){

        // qDebug() << "got update: while";
            if (sm.updated("modelV2")) {
                // qDebug() << "got update: modelV2";

                modelConnected = true;
                // qDebug() << "modelConnected: " << modelConnected;

                auto event = sm["modelV2"];
                model = event.getModelV2();

                //lane lines
                for (int ll_idx = 0; ll_idx < 4; ll_idx++) {
                    if (model.getLaneLineProbs().size() > ll_idx) {
                        lane_line_prob[ll_idx] = model.getLaneLineProbs()[ll_idx];
                        lane_lines = model.getLaneLines()[ll_idx];
                        for (int i = 0; i < TRAJECTORY_SIZE; i++)
                        {
                            laneX[ll_idx][i] = lane_lines.getX()[i];
                            laneY[ll_idx][i] = lane_lines.getY()[i];
                            laneZ[ll_idx][i] = lane_lines.getZ()[i];
                        }
                    } else {
                        lane_line_prob[ll_idx] = 0.0;
                    }

                }

                //road edges
                for (int re_idx = 0; re_idx < 2; re_idx++) {
                    if (model.getRoadEdgeStds().size() > re_idx) {
                        road_edge_std[re_idx] = model.getRoadEdgeStds()[re_idx];
                        road_edges = model.getRoadEdges()[re_idx];
                        for (int i = 0; i < TRAJECTORY_SIZE; i++) {
                                edgeX[re_idx][i] = road_edges.getX()[i];
                                edgeY[re_idx][i] = road_edges.getY()[i];
                                edgeZ[re_idx][i] = road_edges.getZ()[i];
                        }
                    } else {
                        qDebug() << "got update: road_edge_std1.0";
                        road_edge_std[re_idx] = 1.0;
                    }
                }

                emit newMsg();

                // //csv printer
                // frameIdx++;
                // for (int i = 0; i < TRAJECTORY_SIZE; i++) {
                //     qDebug() << frameIdx << "," << edgeX[i] << "," << edgeY[i] << "," << edgeZ[i];
                // }
                // QVector3D(edgeX,edgeY,edgeZ);


            } else {
                modelConnected = false;
                // qDebug() << "modelConnected: " << modelConnected;
            }


            if (sm.updated("controlsState")) {
                // qDebug() << "got update: controlsState";

                // cereal::Event::Reader
                auto event = sm["controlsState"];
                // event.getControlsState();
                controls_state = event.getControlsState();
                vel = controls_state.getVEgo();


                // getVEgo()
                emit newMsg();
                // auto data = sm["radarState"].getRadarState();
                // scene.lead_data[0] = data.getLeadOne();
                // scene.lead_data[1] = data.getLeadTwo();
            }

            if (sm.updated("gpsLocationExternal")){
                // qDebug() << "got update: gpsLocationExternal";

                auto event = sm["gpsLocationExternal"];
                gps_state = event.getGpsLocationExternal();
                lat = gps_state.getLatitude();
                lon = gps_state.getLongitude();
                bea = gps_state.getBearing();
                // qDebug() << "got GPS data!";
            }
        }
    }
}