mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-04 23:33:41 +08:00
Jason Wen
81 lines
2.7 KiB
Python
81 lines
2.7 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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from abc import abstractmethod, ABC
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from cereal import messaging
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from openpilot.common.gps import get_gps_location_service
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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.navd.helpers import Coordinate, coordinate_from_param
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class BaseMapData(ABC):
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def __init__(self):
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self.params = Params()
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self.gps_location_service = get_gps_location_service(self.params)
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gps_packets = [self.gps_location_service]
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self.sm = messaging.SubMaster(['livePose'] + gps_packets, ignore_alive=gps_packets, ignore_avg_freq=gps_packets,
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ignore_valid=gps_packets, poll='livePose')
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self.pm = messaging.PubMaster(['liveMapDataSP'])
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self.last_position = coordinate_from_param("LastGPSPosition", self.params)
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self.last_altitude = None
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@abstractmethod
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def update_location(self) -> None:
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pass
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@abstractmethod
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def get_current_speed_limit(self) -> float:
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pass
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@abstractmethod
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def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
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pass
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@abstractmethod
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def get_current_road_name(self) -> str:
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pass
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def get_current_location(self) -> None:
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gps = self.sm[self.gps_location_service]
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# ignore the message if the fix is invalid
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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 not gps_ok and self.sm['livePose'].inputsOK:
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return
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# livePose has these data, but aren't on cereal
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self.last_position = Coordinate(gps.latitude, gps.longitude)
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self.last_altitude = gps.altitude
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return
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def publish(self) -> None:
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speed_limit = self.get_current_speed_limit()
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next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
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mapd_sp_send = messaging.new_message('liveMapDataSP')
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mapd_sp_send.valid = self.sm.all_checks(['livePose'])
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live_map_data = mapd_sp_send.liveMapDataSP
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live_map_data.speedLimitValid = bool(speed_limit > 0)
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live_map_data.speedLimit = speed_limit
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live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
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live_map_data.speedLimitAhead = next_speed_limit
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live_map_data.speedLimitAheadDistance = next_speed_limit_distance
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live_map_data.roadName = self.get_current_road_name()
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self.pm.send('liveMapDataSP', mapd_sp_send)
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def tick(self) -> None:
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self.sm.update()
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self.get_current_location()
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self.update_location()
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self.publish()
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