mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-28 09:03:46 +08:00
Danny
100 lines
3.4 KiB
Go
100 lines
3.4 KiB
Go
package settings
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import (
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_ "embed"
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"math"
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"time"
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"github.com/pfeiferj/gomsgq"
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)
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const (
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// Queue sizes matching openpilot's services.py
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QUEUE_SIZE_LEGACY = 10 * 1024 * 1024 // 10MB - Used by all services in previous versions of msgq/openpilot
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QUEUE_SIZE_BIG = 10 * 1024 * 1024 // 10MB - modelV2, video encoders
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QUEUE_SIZE_MEDIUM = 2 * 1024 * 1024 // 2MB - CAN, controlsState
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QUEUE_SIZE_SMALL = 250 * 1024 // 250KB - most services
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DEFAULT_SEGMENT_SIZE = 1 * 1024 * 1024 // 1MB - services not in openpilot list
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LOOP_DELAY = 50 * time.Millisecond
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MS_TO_KPH = 3.6
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MS_TO_MPH = 2.237
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MS_TO_KNOTS = 1.944
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KPH_TO_MS = 1 / MS_TO_KPH
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MPH_TO_MS = 1 / MS_TO_MPH
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KNOTS_TO_MS = 1 / MS_TO_KNOTS
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ENABLE_SPEED_RANGE = 0.2 // m/s
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R = 6373000.0 // approximate radius of earth in meters
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TO_RADIANS = math.Pi / 180
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TO_DEGREES = 180 / math.Pi
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QUERY_RADIUS = float64(3000) // meters
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PADDING = 10 / R * TO_DEGREES // 10 meters in degrees
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GROUP_AREA_BOX_DEGREES = 2
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AREA_BOX_DEGREES = float64(1.0 / 4) // Must be 1.0 divided by an integer number
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WAYS_PER_FILE = 2000
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MAX_OP_SPEED = 90 * MPH_TO_MS
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ACCEPTABLE_BEARING_DELTA_SIN = 0.7071067811865475 // sin(45°) - max acceptable bearing mismatch
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MIN_WAY_DIST = 500 // meters. how many meters to look ahead before stopping gathering next ways.
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CURVE_CALC_OFFSET = 10 * MPH_TO_MS
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)
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// ServiceQueueSize maps service names to their queue sizes from openpilot's services.py
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var ServiceQueueSize = map[string]int64{
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// BIG (10MB)
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"modelV2": QUEUE_SIZE_BIG,
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"modelDataV2SP": QUEUE_SIZE_BIG,
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"can": QUEUE_SIZE_BIG,
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"procLog": QUEUE_SIZE_BIG,
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"roadEncodeData": QUEUE_SIZE_BIG,
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"driverEncodeData": QUEUE_SIZE_BIG,
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"wideRoadEncodeData": QUEUE_SIZE_BIG,
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"qRoadEncodeData": QUEUE_SIZE_BIG,
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// MEDIUM (2MB)
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"controlsState": QUEUE_SIZE_MEDIUM,
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"sendcan": QUEUE_SIZE_MEDIUM,
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// SMALL (250KB) - most services
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"carState": QUEUE_SIZE_SMALL,
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"carControl": QUEUE_SIZE_SMALL,
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"carOutput": QUEUE_SIZE_SMALL,
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"selfdriveState": QUEUE_SIZE_SMALL,
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"gpsLocation": QUEUE_SIZE_SMALL,
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"starpilotCarState": QUEUE_SIZE_SMALL,
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"starpilotNavigation": QUEUE_SIZE_MEDIUM,
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"gpsLocationExternal": QUEUE_SIZE_SMALL,
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"liveLocationKalman": QUEUE_SIZE_SMALL,
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"gpsNMEA": QUEUE_SIZE_SMALL,
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"ubloxGnss": QUEUE_SIZE_SMALL,
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"qcomGnss": QUEUE_SIZE_SMALL,
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"gnssMeasurements": QUEUE_SIZE_SMALL,
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// mapd
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"mapdOut": QUEUE_SIZE_MEDIUM,
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"mapdExtendedOut": QUEUE_SIZE_MEDIUM,
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"mapdIn": QUEUE_SIZE_MEDIUM,
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"mapdCli": QUEUE_SIZE_MEDIUM,
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}
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// GetSegmentSize returns the appropriate segment size for a service
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func GetSegmentSize(service string) int64 {
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isPrefixed := gomsgq.IsPrefixedMsgq()
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if !isPrefixed {
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return QUEUE_SIZE_LEGACY
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}
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if size, ok := ServiceQueueSize[service]; ok {
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return size
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}
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// Default to SMALL (250KB) to matches op default queue size
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return QUEUE_SIZE_SMALL
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}
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//go:embed download_menu.json
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var boundingBoxesJson []byte
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//go:embed defaults.json
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var defaultsJson []byte
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//go:embed recommended.json
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var recommendedJson []byte
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