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lidar is a scam (#2094)

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Adeeb Shihadeh 2020-08-28 16:21:05 -07:00 committed by GitHub
parent b7bc342cc8
commit 45b4b6007a
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1 changed files with 0 additions and 83 deletions
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83
selfdrive/loggerd/loggerd.cc
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@ -68,8 +68,6 @@
#define LOG_ROOT "/data/media/0/realdata"
#define ENABLE_LIDAR 0
#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes
@ -389,78 +387,6 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
}
#endif
#if ENABLE_LIDAR
#include <netinet/in.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#define VELODYNE_DATA_PORT 2368
#define VELODYNE_TELEMETRY_PORT 8308
#define MAX_LIDAR_PACKET 2048
int lidar_thread() {
// increase kernel max buffer size
system("sysctl -w net.core.rmem_max=26214400");
set_thread_name("lidar");
int sock;
if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
perror("cannot create socket");
return -1;
}
int a = 26214400;
if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, &a, sizeof(int)) == -1) {
perror("cannot set socket opts");
return -1;
}
struct sockaddr_in addr;
memset(&addr, 0, sizeof(struct sockaddr_in));
addr.sin_family = AF_INET;
addr.sin_port = htons(VELODYNE_DATA_PORT);
inet_aton("192.168.5.11", &(addr.sin_addr));
if (bind(sock, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
perror("cannot bind LIDAR socket");
return -1;
}
capnp::byte buf[MAX_LIDAR_PACKET];
while (!do_exit) {
// receive message
struct sockaddr from;
socklen_t fromlen = sizeof(from);
int cnt = recvfrom(sock, (void *)buf, MAX_LIDAR_PACKET, 0, &from, &fromlen);
if (cnt <= 0) {
printf("bug in lidar recieve!\n");
continue;
}
// create message for log
capnp::MallocMessageBuilder msg;
auto event = msg.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto lidar_pts = event.initLidarPts();
// copy in the buffer
// TODO: can we remove this copy? does it matter?
kj::ArrayPtr<capnp::byte> bufferPtr = kj::arrayPtr(buf, cnt);
lidar_pts.setPkt(bufferPtr);
// log it
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();
logger_log(&s.logger, bytes.begin(), bytes.size());
}
return 0;
}
#endif
}
void append_property(const char* key, const char* value, void *cookie) {
@ -694,10 +620,6 @@ int main(int argc, char** argv) {
#endif
#endif
#if ENABLE_LIDAR
std::thread lidar_thread_handle(lidar_thread);
#endif
uint64_t msg_count = 0;
uint64_t bytes_count = 0;
@ -775,11 +697,6 @@ int main(int argc, char** argv) {
LOGW("encoder joined");
#endif
#if ENABLE_LIDAR
lidar_thread_handle.join();
LOGW("lidar joined");
#endif
logger_close(&s.logger);
for (auto s : socks){