mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-07-27 04:12:10 +08:00
Jason Wen
ab6d192714
* init * some fixes * move * more * old navd helpers * bring back cereal * fix linting * more * add to cereal first * sp events * lint * implement in long plan * fixme-sp * refactor state machine * wrong state * start refactor controller * some type hints * init these * enable debug print * ui? ui! * print them out * fix spinner import * fix path * let's use gps chips directly for now * service missing * publish events * no nav for now * need to sub * no car state speed yet * missed event * Car: `CarStateSP` * fix tests * bring back car state speed limit * fix * use old controller for now * fix * fix source * type hints * none for now * formatting * more * create directory if does not exist * mypy my bt * policy param catch exceptions * handle all params with exceptions * more * single method * define types in init * rename * simpler op enabled check * more mypy stuff * rename * no need for brake pressed * don't reset if gas pressed * type hint all * type hint all * back to upstream * in another pr * no longer need data type * qlog * slc in another pr * use horizontal accuracy * set core affinity for all realtime processes * unused * sort * unused * type hint and slight cleanup * from old implementation * use directly * combine pm * slight more cleanup * type hints * even more type hint * lint * more cleanup * even less * license
77 lines
2.5 KiB
Python
77 lines
2.5 KiB
Python
"""
|
|
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
|
|
|
This file is part of sunnypilot and is licensed under the MIT License.
|
|
See the LICENSE.md file in the root directory for more details.
|
|
"""
|
|
import time
|
|
from abc import abstractmethod, ABC
|
|
|
|
from cereal import messaging
|
|
from openpilot.common.gps import get_gps_location_service
|
|
from openpilot.common.params import Params
|
|
from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
|
|
|
|
|
|
class BaseMapData(ABC):
|
|
def __init__(self):
|
|
self.params = Params()
|
|
|
|
self.gps_location_service = get_gps_location_service(self.params)
|
|
self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
|
|
self.pm = messaging.PubMaster(['liveMapDataSP'])
|
|
|
|
self.last_position = coordinate_from_param("LastGPSPosition", self.params)
|
|
self.last_altitude = None
|
|
|
|
@abstractmethod
|
|
def update_location(self) -> None:
|
|
pass
|
|
|
|
@abstractmethod
|
|
def get_current_speed_limit(self) -> float:
|
|
pass
|
|
|
|
@abstractmethod
|
|
def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
|
|
pass
|
|
|
|
@abstractmethod
|
|
def get_current_road_name(self) -> str:
|
|
pass
|
|
|
|
def get_current_location(self) -> None:
|
|
gps = self.sm[self.gps_location_service]
|
|
|
|
# ignore the message if the fix is invalid
|
|
gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
|
|
if not gps_ok and self.sm['livePose'].inputsOK:
|
|
return None
|
|
|
|
# livePose has these data, but aren't on cereal
|
|
self.last_position = Coordinate(gps.latitude, gps.longitude)
|
|
self.last_altitude = gps.altitude
|
|
|
|
def publish(self) -> None:
|
|
speed_limit = self.get_current_speed_limit()
|
|
next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
|
|
|
|
mapd_sp_send = messaging.new_message('liveMapDataSP')
|
|
mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
|
|
live_map_data = mapd_sp_send.liveMapDataSP
|
|
|
|
live_map_data.speedLimitValid = bool(speed_limit > 0)
|
|
live_map_data.speedLimit = speed_limit
|
|
live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
|
|
live_map_data.speedLimitAhead = next_speed_limit
|
|
live_map_data.speedLimitAheadDistance = next_speed_limit_distance
|
|
live_map_data.roadName = self.get_current_road_name()
|
|
|
|
self.pm.send('liveMapDataSP', mapd_sp_send)
|
|
|
|
def tick(self) -> None:
|
|
self.sm.update()
|
|
self.get_current_location()
|
|
self.update_location()
|
|
self.publish()
|