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boardd: remove ublox timestamp logging #23498

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merged 3 commits into from
Jan 12, 2022
Merged

boardd: remove ublox timestamp logging #23498

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b5b6271
boardd: remove ublox timestamp logging
pd0wm Jan 12, 2022
eb81fd0
more cleanup
pd0wm Jan 12, 2022
ff3379f
add cmath
pd0wm Jan 12, 2022
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36 changes: 1 addition & 35 deletions selfdrive/boardd/boardd.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,12 @@
#include <cassert>
#include <cerrno>
#include <chrono>
#include <cmath>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <future>
#include <thread>
#include <unordered_map>

#include <libusb-1.0/libusb.h>

Expand All @@ -26,7 +26,6 @@
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/locationd/ublox_msg.h"

#include "selfdrive/boardd/panda.h"
#include "selfdrive/boardd/pigeon.h"
Expand Down Expand Up @@ -552,38 +551,11 @@ void pigeon_thread(Panda *panda) {

std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));

std::unordered_map<char, uint64_t> last_recv_time;
std::unordered_map<char, int64_t> cls_max_dt = {
{(char)ublox::CLASS_NAV, int64_t(900000000ULL)}, // 0.9s
{(char)ublox::CLASS_RXM, int64_t(900000000ULL)}, // 0.9s
};

while (!do_exit && panda->connected) {
bool need_reset = false;
bool ignition_local = ignition;
std::string recv = pigeon->receive();

// Parse message header
if (ignition_local && recv.length() >= 3) {
if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2) {
const char msg_cls = recv[2];
uint64_t t = nanos_since_boot();
if (t > last_recv_time[msg_cls]) {
last_recv_time[msg_cls] = t;
}
}
}

// Check based on message frequency
for (const auto& [msg_cls, max_dt] : cls_max_dt) {
int64_t dt = (int64_t)nanos_since_boot() - (int64_t)last_recv_time[msg_cls];
if (ignition_last && ignition_local && dt > max_dt) {
LOGD("ublox receive timeout, msg class: 0x%02x, dt %llu", msg_cls, dt);
// TODO: turn on reset after verification of logs
// need_reset = true;
}
}

// Check based on null bytes
if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) {
need_reset = true;
Expand All @@ -599,12 +571,6 @@ void pigeon_thread(Panda *panda) {
if((ignition_local && !ignition_last) || need_reset) {
pigeon_active = true;
pigeon->init();

// Set receive times to current time
uint64_t t = nanos_since_boot() + 10000000000ULL; // Give ublox 10 seconds to start
for (const auto& [msg_cls, dt] : cls_max_dt) {
last_recv_time[msg_cls] = t;
}
} else if (!ignition_local && ignition_last) {
// power off on falling edge of ignition
LOGD("powering off pigeon\n");
Expand Down
5 changes: 0 additions & 5 deletions selfdrive/locationd/ublox_msg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,6 @@ namespace ublox {
const int UBLOX_CHECKSUM_SIZE = 2;
const int UBLOX_MAX_MSG_SIZE = 65536;

// Boardd still uses these:
const uint8_t CLASS_NAV = 0x01;
const uint8_t CLASS_RXM = 0x02;
const uint8_t CLASS_MON = 0x0A;

struct ubx_mga_ini_time_utc_t {
uint8_t type;
uint8_t version;
Expand Down