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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>
137 lines
6.7 KiB
Markdown
137 lines
6.7 KiB
Markdown
# Outputs
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Mapd outputs data using two different cereal messages. MapdOut is the primary
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output of mapd and is output at a rate of 20 hz. MapdExtendedOut contains data
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that is needed in less realtime and thus is output at a rate of 1hz.
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## MapdOut
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Contains the primary outputs of mapd used during driving.
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Output Frequency: 20hz
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Queue Size: MEDIUM (2mb)
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Suggested openpilot cereal settings:
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Frequency: 20
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Should Log: True
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Decimation: 20
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### Values
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* **suggestedSpeed**: This is the primary value to use as the speed in
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openpilot. It takes into account all mapd settings and data to give a target max
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speed for openpilot.
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* **wayName**: The name tag for the openstreetmap way that we are currently on.
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* **wayRef**: The ref tag for the openstreetmap way that we are currently on.
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* **roadName**: The suggested name to show for a road. It's just the wayName
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with a fallback to wayRef when wayName is blank.
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* **speedLimit**: The speed limit from the openstreetmap way that we are
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currently on. It takes into account direction of travel, so if there is forward
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or backwards max speed tag on osm this value will automatically use it based on
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the direction of travel. When conditional speed limit control is enabled and a
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parseable day/time condition from the way's maxspeed:conditional tag currently
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applies, this value reflects the conditional limit instead.
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* **conditionalSpeedLimit**: The raw maxspeed:conditional tag text for the way
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we are currently on (direction of travel taken into account, like speedLimit).
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Always output when the tag is present so forks can evaluate conditions mapd
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does not handle itself (weather, vehicle class, ...). Empty when the way has no
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conditional tag or the loaded map tiles predate this field.
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* **nextSpeedLimit**: The next speed limit change that we see on the predicted path. This value also takes direction of travel into consideration.
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* **nextSpeedLimitDistance**: The approximate distance to the next speed limit
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change that we see on the predicted path.
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* **hazard**: The hazard tag for the openstreetmap way that we are currently on.
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* **nextHazard**: The next hazard change that we see on the predicted path.
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* **nextHazardDistance**: The distance to the next hazard we see on the
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predicted path.
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* **advisorySpeed**: The maxspeed:advisory tag for the openstreetmap way we are
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currently on. This is typically used for the yellow speed signs at curves (in
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the US).
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* **nextAdvisorySpeed**: The next advisory speed change that we see on the
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predicted path.
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* **nextAdvisorySpeedDistance**: The distance to the next advisory speed change
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that we see on the predicted path.
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* **oneWay**: Indicates if the openstreetmap way we are currently on is marked
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as a one way road.
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* **lanes**: The number of lanes from the openstreetmap way we are currently on.
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* **tileLoaded**: Indicates if we successfully loaded a mapd data tile for the
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current location.
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* **speedLimitSuggestedSpeed**: This is the suggested speed to use based on
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speed limit plus offsets and takes into account the speed limit priority. This
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is primarily what's used to decide if the current speed limit is accepted or
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not.
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* **estimatedRoadWidth**: The width in meters that mapd used for determining
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whether we were on the current road. Based off of the lanes value multiplied by
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the lane width setting.
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* **roadContext**: freeway, city, unknown. The type of road we decided to use
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for the current road when determining which road we are on.
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* **highwayClass**: The OSM highway tag value of the way we are currently on
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(motorway, motorwayLink, trunk, ..., residential, livingStreet). Unlike
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roadContext this is not inferred, it is the actual classification from
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openstreetmap, so it can for example distinguish a freeway (motorway) from an
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on/off-ramp (motorwayLink). A value of unknown means either the way's highway
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tag was not one of the listed values or the loaded map tiles were generated
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before this field existed and need to be re-downloaded.
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* **distanceFromWayCenter**: Our distance from the center of the road based on
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gps position data and the openstreetmap road path.
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* **visionCurveSpeed**: The suggested speed based off of vision curve
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calculations.
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* **waySelectionType**: current, predicted, possible, extended, fail.
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* current indicates that we are still on the last osm way that we found.
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* predicted indicates that we attached to one of the upcoming osm ways from our predicted
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path.
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* possible indicates that we picked a new road that was not based on
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previously found values.
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* extended indicates that we stayed attached to the current way only because we could not find a better match and the current match isn't completely outside of gps position deviation.
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* fail indicates that we could not find any acceptable way to use as our current road.
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* **speedLimitAccepted**: indicates if the current detected speed limit value is
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accepted.
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## MapdExtendedOut
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Contains additional data typically not needed during driving.
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Output Frequency: 1hz
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Queue Size: MEDIUM (2mb)
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Suggested openpilot cereal settings:
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Frequency: 1
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Should Log: False
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Decimation: -1
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This message contains a lot of data that typically won't be needed during
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debugging. As such I recommend not having it added to the logs so that we are
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not unnecessarily using comma's storage for comma connect users.
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### settings
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The settings value in mapdExtendedOut is a json encoding of the currently active
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settings. The json is the same format as the MapdSettings param.
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### downloadProgress
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* active: Indicates whether mapd is currently downloading maps
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* cancelled: Indicates if the last download was cancelled
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* totalFiles: How many files will be downloaded
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* downloadedFiles: How many files have been downloaded
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* locations: a list of locations that are being downloaded
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* locationDetails: a list of download progress details for each location that is
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being downloaded
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* location: which location these details are for
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* totalFiles: how many files will be downloaded for the location
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* downloadedFiles: how many files have been downloaded for the location
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### path
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A list points of the current path mapd has attached to and their target
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velocities and calculated curvatures.
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* latitude: latitude of the position on the path.
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* longitude: longitude of the position on the path.
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* curvature: The curvature that was calculated for the point on the path
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* targetVelocity: The velocity mapd has calculated will reach the target lateral
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acceleration at the point on the path.
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### position
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The current position mapd is using.
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* latitude: latitude of the position.
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* longitude: longitude of the position.
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### loopRateAverage / loopRateMin
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The average and minimum main loop update rate, in Hz, over the last 20 main
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loop cycles. loopRateAverage is the mean rate across those cycles;
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loopRateMin is the rate implied by the single slowest cycle in the window.
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