mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-02 06:03:43 +08:00
Jason Wen
63 lines
2.4 KiB
Python
63 lines
2.4 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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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 openpilot.common.params import Params
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from openpilot.common.realtime import DT_MDL
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from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
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from openpilot.sunnypilot.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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gps = self.sm[self.gps_location_service]
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gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
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if gps_ok:
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self.last_bearing = gps.bearingDeg * 180/math.pi
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self.last_position = Coordinate(gps.latitude, gps.longitude)
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if not gps_ok and self.sm['livePose'].inputsOK:
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return
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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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"bearing": self.last_bearing,
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}
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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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