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https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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59 lines
2.3 KiB
Python
59 lines
2.3 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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import json
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import math
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import platform
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from cereal import log
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from openpilot.common.params import Params
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from openpilot.iqpilot.mapd.live_map_data.base_map_data import BaseMapData
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from openpilot.iqpilot.navd.helpers import Coordinate
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class OsmMapData(BaseMapData):
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def __init__(self):
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super().__init__()
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self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
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def update_location(self) -> None:
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location = self.sm['liveLocationKalman']
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self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
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if self.localizer_valid:
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self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
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self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
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if self.last_position is None:
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return
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params = {
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"latitude": self.last_position.latitude,
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"longitude": self.last_position.longitude,
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}
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if self.last_bearing is not None:
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params['bearing'] = self.last_bearing
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self.mem_params.put("LastGPSPosition", json.dumps(params))
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def get_current_speed_limit(self) -> float:
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return float(self.mem_params.get("MapSpeedLimit") or 0.0)
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def get_current_road_name(self) -> str:
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return str(self.mem_params.get("RoadName") or "")
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def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
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next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
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next_speed_limit_section = next_speed_limit_section_str if next_speed_limit_section_str else {}
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next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
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next_speed_limit_latitude = next_speed_limit_section.get('latitude')
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next_speed_limit_longitude = next_speed_limit_section.get('longitude')
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next_speed_limit_distance = 0.0
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if next_speed_limit_latitude and next_speed_limit_longitude:
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next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude)
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next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates)
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return next_speed_limit, next_speed_limit_distance
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