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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>
90 lines
4.8 KiB
Markdown
90 lines
4.8 KiB
Markdown
# Inputs
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Mapd uses cereal messages for communication between openpilot and mapd. For
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runtime data inputs mapd will subscribe to standard openpilot cereal services
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and does not require any configuration to do so. For inputs specific to mapd the
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mapd service subscribes to the mapdIn cereal service. The mapdIn cereal service
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should be set to the medium queue size (2mb) in openpilot unless using a version
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of openpilot that does not support cereal queue sizes. There are two main types
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of things that can be sent through the mapdIn cereal messages, settings and
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action triggers.
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## MapdIn Message Structure
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The MapdIn message is a generic structure that is designed to work for many
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different types of inputs without large structure updates to the capnp
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definitions. As such it acts as a tagged union where there is a type value that
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specifies what action mapd should take and then there are a few generic fields
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of different types to handle values for that action. If the setting requires a
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number then you would send the data in the float field, a boolean goes in the
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boolean field and a string goes in the str field.
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Most individual settings additionally have a dedicated type (e.g.
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setSpeedLimitOffset), but these are deprecated as of settings\_version 2 in
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favor of three generic types: setJsonPathBool, setJsonPathFloat, and
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setJsonPathText. For these, put the dot-notation path of the setting within
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the MapdSettings json (as documented per-setting in settings.md) into the
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jsonPath field, and the value in the matching bool/float/str field.
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## Settings
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There are two options for configuring mapd settings:
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1. Mapd settings can be configured by updating the MapdSettings param and
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then triggering a reload of the settings in mapd through a cereal message or
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by restarting the mapd service.
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2. Mapd settings can be configured by sending MapdIn cereal messages that
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change the mapd settings in the running process and then can be persisted
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by sending an additional message to persist those values across restarts of
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the service.
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Details about the cereal messages for each setting are described in settings.md
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There are various actions for loading or persisting the runtime settings that
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con be triggered through the MapdIn messages. These actions only require sending
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a MapdIn message without any additional data in the message. These message types
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are as follows:
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* reloadSettings: Does a full re-initialization of the settings. This includes
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loading the internal default settings, followed by any custom defaults, and
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finally by loading the settings from the MapdSettings param.
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* saveSettings: This action persists all runtime settings values to the
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MapdSettings param.
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* loadDefaultSettings: Loads the internal default settings followed by any
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custom default settings.
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* loadRecommendedSettings: Loads custom recommended settings if available,
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otherwise loads the internal recommended settings. These are applied on top of
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the currently running settings without reapplying the defaults.
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* loadPersistentSettings: This is similar to reloadSettings action, but it
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only loads the MapdSettings param _without_ first loading the default
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settings.
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## Map Downloads
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Map downloads can be triggered by sending a MapdIn message with the download
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type where the value is a path in the download\_menu.json set in the str field.
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The path is a period delimited value where the each value is a key name. So, to
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download the United States the str value would be "nation.US", or for the state
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of Ohio the path would be "us\_state.OH". If a submenu is specified in
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download\_menu.json the path can include additional entries that follow the
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submenu. With the state of Ohio that means we can also use the value
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"nation.US.OH" to download maps for the region. Multiple areas can be triggered
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at the same time by simply joining them in the string with a comma. So, to
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download Ohio and West Virginia we could use the str value of
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"us\_states.OH,us\_states.WV" which will cause mapd to download both states in
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that order.
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To cancel an in progress download a message with the type cancelDownload can be
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sent which will cause mapd to stop downloading files once the current file is
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finished downloading.
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To get the progress of a download see outputs.md
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## Accept Speed Limit
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mapd allows for custom logic for accepting a pending speed limit by sending a
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message to mapd. A MapdIn cereal message with the type acceptSpeedLimit will
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cause mapd to accept the currently pending speed limit.
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## Custom Speed Limit
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mapd allows for supplying speed limits from custom sources by sending MapdIn
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cereal messages. The cereal message should have the type setExternalSpeedLimit
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and the speed limit should be supplied in meters/second in the float field.
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externalSpeedLimitControl must be enabled in the settings for the values to be
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used. You can set the prioritization logic through the speedLimitPriority
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setting.
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