DATA-534 Map Saving Localizing (RDK) #1548
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ghost
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ghost
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Nov 2, 2022
| @@ -248,7 +248,7 @@ type AttrConfig struct { | |||
| Algorithm string `json:"algorithm"` | |||
| ConfigParams map[string]string `json:"config_params"` | |||
| DataRateMs int `json:"data_rate_msec"` | |||
| MapRateSec int `json:"map_rate_sec"` | |||
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Do we want to repeat this process for DataRateMs and potentially other parameters as well? It makes a clearer check of if its present or not
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Yes, if there is a strong reason to do so. If so, we can probably discuss in the next slam meeting
…-viam/rdk into 11022022_MapRateDefaultUpdate
ghost
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Nov 2, 2022
| attrCfg := &builtin.AttrConfig{ | ||
| Algorithm: "fake_orbslamv3", | ||
| Sensors: []string{"good_color_camera"}, | ||
| ConfigParams: map[string]string{"mode": "mono", "test_param": "viam"}, | ||
| DataDirectory: name, | ||
| MapRateSec: 200, | ||
| MapRateSec: &mapRate, |
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Note: cant do &(200) or anything like that so I have had to define the mapRate variable to create the pointer. If anyone has a better way to do that let me know
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only thought would be making them constants(idk if that would work here) or just making a good_mapRate and bad_mapRate.
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November 2, 2022 13:05
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Nov 2, 2022
| @@ -248,7 +248,7 @@ type AttrConfig struct { | |||
| Algorithm string `json:"algorithm"` | |||
| ConfigParams map[string]string `json:"config_params"` | |||
| DataRateMs int `json:"data_rate_msec"` | |||
| MapRateSec int `json:"map_rate_sec"` | |||
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Yes, if there is a strong reason to do so. If so, we can probably discuss in the next slam meeting
services/slam/builtin/builtin.go
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| if svcConfig.MapRateSec != nil && *svcConfig.MapRateSec >= 0 { | ||
| if *svcConfig.MapRateSec >= 0 { | ||
| logger.Info("setting slam system to localization mode") | ||
| } |
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The nested if statements where you check twice for the same condition are confusing. I would just go about it sequentially:
- If the value is nil, set to the default & log it
- Else If the value is >= 0 set to that value
a. If value is == 0 then log that it's in localization only mode - else if the value is < 0, complain that it's an invalid number and exit (or set to default? What did we define in the tech spec?)
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moving check of map_rate being less than 0 (invalid) to configuration check similar to data_rate_msec. Nested if statement also removed
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November 3, 2022 11:06
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Adding localization mode when map rate is set to 0. Using a pointer value for this to allow 0 to be specified and not used as the default for this optional parameter.
JIRA Ticket: https://viam.atlassian.net/browse/DATA-534
Associated PR: viamrobotics/slam#72