Race Tracker #18
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Race Tracker #18
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RCMast3r
requested changes
Nov 11, 2024
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| find_package(mcap REQUIRED) | ||
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| # custom packaged libraries, code didnt require changes just the packaging | ||
| find_package(dbcppp CONFIG REQUIRED) | ||
| find_package(foxglove_websocket REQUIRED) | ||
| find_package(cmake_macros REQUIRED) | ||
| find_package(GTest REQUIRED) |
CMakeLists.txt
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| gtest | ||
| ) | ||
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| add_test(NAME MyTest COMMAND alpha_test) |
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this is how you add tests, please leave this in
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| vn_ins_msg->set_ins_mode(static_cast<hytech_msgs::INSMode>(ins_status & 0b11)); | ||
| vn_ins_msg->set_gnss_fix((ins_status >> 2) & 0b1); | ||
| vn_ins_msg->set_error_imu((ins_status >> 4) & 1); | ||
| vn_ins_msg->set_error_mag_pres((ins_status >> 5) & 0b1); | ||
| vn_ins_msg->set_error_gnss((ins_status >> 6) & 0b1); | ||
| vn_ins_msg->set_gnss_heading_ins((ins_status >> 8) & 0b1); | ||
| vn_ins_msg->set_gnss_compass((ins_status >> 9) & 0b1); |
| @@ -60,8 +61,8 @@ namespace core | |||
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| public: | |||
| using tsq = core::common::ThreadSafeDeque<std::shared_ptr<google::protobuf::Message>>; | |||
| StateEstimator(core::Logger &shared_logger, std::shared_ptr<loggertype> message_logger, estimation::MatlabMath& matlab_estimator) | |||
| : _logger(shared_logger), _message_logger(message_logger), _matlab_estimator(matlab_estimator) | |||
| StateEstimator(core::Logger &shared_logger, std::shared_ptr<loggertype> message_logger, estimation::MatlabMath& matlab_estimator, int mode) | |||
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dont construct the lap tracker in the state estimator, just pass a reference to an already constructed instance.
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| private: | ||
| bool started; | ||
| int lapCount; | ||
| int lapNumber; | ||
| double startLineLat1, startLineLon1, startLineLat2, startLineLon2; | ||
| double finishLineLat1, finishLineLon1, finishLineLat2, finishLineLon2; | ||
| double totalDistance; | ||
| std::chrono::steady_clock::time_point startTime; | ||
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| DataPoint previousPoint; | ||
| bool hasPreviousPoint; | ||
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| void calculateStartLine(const DataPoint& point); | ||
| void calculateFinishLine(const DataPoint& point); | ||
| bool checkLapCompletion(const DataPoint& previousPoint, const DataPoint& currentPoint); | ||
| bool checkFinishLineCrossing(const DataPoint& previousPoint, const DataPoint& currentPoint); | ||
| double calculateDistance(const DataPoint& point1, const DataPoint& point2); | ||
| bool checkLineCrossing(const DataPoint& previousPoint, const DataPoint& currentPoint, double lat1, double lon1, double lat2, double lon2); | ||
| DataPoint process_race_data(const core::VehicleState ¤t_state); | ||
| }; |
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please follow the naming convention that all member variables and functions have a leading underscore
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| void calculateStartLine(const DataPoint& point); | ||
| void calculateFinishLine(const DataPoint& point); | ||
| bool checkLapCompletion(const DataPoint& previousPoint, const DataPoint& currentPoint); | ||
| bool checkFinishLineCrossing(const DataPoint& previousPoint, const DataPoint& currentPoint); | ||
| double calculateDistance(const DataPoint& point1, const DataPoint& point2); | ||
| bool checkLineCrossing(const DataPoint& previousPoint, const DataPoint& currentPoint, double lat1, double lon1, double lat2, double lon2); |
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please snake_case all functions
| point.timestamp = std::chrono::duration_cast<std::chrono::microseconds>( | ||
| std::chrono::high_resolution_clock::now().time_since_epoch()).count(); | ||
| double speed = in_msg->vn_vel_m_s().x(); | ||
| std::string raceStatus = _lapTracker.processRaceData(point, speed); |
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where is this function call? does not appear to exist.
| @@ -27,7 +27,7 @@ namespace common | |||
| std::unique_lock lk(_input_deque.mtx); | |||
| _running = true; | |||
| } | |||
| _options.noChunking = true; | |||
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please keep noChunking= true;
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also, what about the ability to reset the lap tracker? and / or restart the tracker itself
| @@ -122,6 +123,7 @@ namespace common | |||
| std::unique_lock lk(_logger_mtx); | |||
| msg_to_log.channelId = _msg_name_id_map[msg.message_name]; // under the mutex we also lookup in the map | |||
| auto write_res = _writer.write(msg_to_log); | |||
| _writer.closeLastChunk(); | |||
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