mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
120 lines
5.7 KiB
Go
120 lines
5.7 KiB
Go
package settings
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import (
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"encoding/json"
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"log/slog"
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)
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func Migrate(version uint64, jsonString []byte) MapdSettings {
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var migratedSettings any
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switch version {
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case 1:
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var v1Settings V1Settings
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err := json.Unmarshal(jsonString, &v1Settings)
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if err != nil {
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slog.Error("Error unmarshalling V1 settings: %v", "error", err)
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return MapdSettings{}
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}
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migratedSettings = v1Settings
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}
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if version == 1 {
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v1Settings := migratedSettings.(V1Settings)
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migratedSettings = v2(v1Settings)
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version = 2
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}
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return migratedSettings.(MapdSettings)
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}
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func v2(v1Settings V1Settings) MapdSettings {
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personalitySettings := PersonalitySettings{
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TargetSpeedJerk: v1Settings.TargetSpeedJerk,
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TargetSpeedAccel: v1Settings.TargetSpeedAccel,
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CurveTargetSpeedTimeOffset: v1Settings.TargetSpeedTimeOffset,
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SpeedLimitIncreaseTargetSpeedTimeOffset: v1Settings.TargetSpeedTimeOffset,
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SpeedLimitDecreaseTargetSpeedTimeOffset: v1Settings.TargetSpeedTimeOffset,
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VisionCurveTargetLatA: v1Settings.VisionCurveTargetLatA,
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VisionCurveMinTargetV: v1Settings.VisionCurveMinTargetV,
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MapCurveTargetLatA: v1Settings.MapCurveTargetLatA,
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SlowDownForNextSpeedLimit: v1Settings.SlowDownForNextSpeedLimit,
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SpeedUpForNextSpeedLimit: v1Settings.SpeedUpForNextSpeedLimit,
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}
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v2Settings := MapdSettings{
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SettingsVersion: 2,
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VisionCurveSpeedControlEnabled: v1Settings.VisionCurveSpeedControlEnabled,
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MapCurveSpeedControlEnabled: v1Settings.MapCurveSpeedControlEnabled,
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SpeedLimitControlEnabled: v1Settings.SpeedLimitControlEnabled,
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ExternalSpeedLimitControlEnabled: v1Settings.ExternalSpeedLimitControlEnabled,
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VisionCurveUseEnableSpeed: v1Settings.VisionCurveUseEnableSpeed,
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SpeedLimitUseEnableSpeed: v1Settings.SpeedLimitUseEnableSpeed,
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MapCurveUseEnableSpeed: v1Settings.MapCurveUseEnableSpeed,
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EnableSpeed: v1Settings.EnableSpeed,
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DefaultLaneWidth: v1Settings.DefaultLaneWidth,
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SubscriberSettings: SubscriberSettings{
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ShadowCarState: true,
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ShadowModelV2: false,
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ShadowGpsLocation: false,
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ShadowGpsLocationExternal: false,
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ShadowSelfdriveState: false,
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},
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LogSettings: LogSettings{
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LogLevel: v1Settings.LogLevel,
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LogJson: v1Settings.LogJson,
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LogSource: v1Settings.LogSource,
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},
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Personalities: Personalities{
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Standard: personalitySettings,
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Relaxed: personalitySettings,
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Aggressive: personalitySettings,
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},
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SpeedLimitSettings: SpeedLimitSettings{
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PressGasToAcceptSpeedLimit: v1Settings.PressGasToAcceptSpeedLimit,
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PressGasToOverrideSpeedLimit: v1Settings.PressGasToOverrideSpeedLimit,
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AdjustSetSpeedToAcceptSpeedLimit: v1Settings.AdjustSetSpeedToAcceptSpeedLimit,
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AcceptSpeedLimitTimeout: v1Settings.AcceptSpeedLimitTimeout,
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SpeedLimitPriority: v1Settings.SpeedLimitPriority,
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SpeedLimitChangeRequiresAccept: v1Settings.SpeedLimitChangeRequiresAccept,
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SpeedLimitOffset: v1Settings.SpeedLimitOffset,
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HoldLastSeenSpeedLimit: v1Settings.HoldLastSeenSpeedLimit,
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HoldSpeedLimitWhileChangingSetSpeed: v1Settings.HoldSpeedLimitWhileChangingSetSpeed,
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},
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}
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return v2Settings
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}
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type V1Settings struct {
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SettingsVersion float32 `json:"settings_version"`
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PressGasToAcceptSpeedLimit bool `json:"press_gas_to_accept_speed_limit"`
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PressGasToOverrideSpeedLimit bool `json:"press_gas_to_override_speed_limit"`
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AdjustSetSpeedToAcceptSpeedLimit bool `json:"adjust_set_speed_to_accept_speed_limit"`
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AcceptSpeedLimitTimeout float32 `json:"accept_speed_limit_timeout"`
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VisionCurveSpeedControlEnabled bool `json:"vision_curve_speed_control_enabled"`
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MapCurveSpeedControlEnabled bool `json:"map_curve_speed_control_enabled"`
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SpeedLimitControlEnabled bool `json:"speed_limit_control_enabled"`
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ExternalSpeedLimitControlEnabled bool `json:"external_speed_limit_control_enabled"`
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SpeedLimitPriority string `json:"speed_limit_priority"`
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VisionCurveUseEnableSpeed bool `json:"vision_curve_use_enable_speed"`
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SpeedLimitUseEnableSpeed bool `json:"speed_limit_use_enable_speed"`
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SpeedLimitChangeRequiresAccept bool `json:"speed_limit_change_requires_accept"`
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MapCurveUseEnableSpeed bool `json:"map_curve_use_enable_speed"`
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LogLevel string `json:"log_level"`
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LogJson bool `json:"log_json"`
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LogSource bool `json:"log_source"`
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VisionCurveTargetLatA float32 `json:"vision_curve_target_lat_a"`
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VisionCurveMinTargetV float32 `json:"vision_curve_min_target_v"`
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SpeedLimitOffset float32 `json:"speed_limit_offset"`
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EnableSpeed float32 `json:"enable_speed"`
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HoldLastSeenSpeedLimit bool `json:"hold_last_seen_speed_limit"`
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TargetSpeedJerk float32 `json:"target_speed_jerk"`
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TargetSpeedAccel float32 `json:"target_speed_accel"`
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TargetSpeedTimeOffset float32 `json:"target_speed_time_offset"`
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DefaultLaneWidth float32 `json:"default_lane_width"`
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MapCurveTargetLatA float32 `json:"map_curve_target_lat_a"`
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SlowDownForNextSpeedLimit bool `json:"slow_down_for_next_speed_limit"`
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SpeedUpForNextSpeedLimit bool `json:"speed_up_for_next_speed_limit"`
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HoldSpeedLimitWhileChangingSetSpeed bool `json:"hold_speed_limit_while_changing_set_speed"`
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}
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