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
52 lines
2.0 KiB
Python
52 lines
2.0 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 platform
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from openpilot.common.params import Params
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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.params = Params()
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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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if self.last_position is None or self.last_altitude 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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"altitude": self.last_altitude,
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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", encoding='utf8') or 0.0)
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def get_current_road_name(self) -> str:
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return self.mem_params.get("RoadName", encoding='utf8') 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", encoding='utf8')
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next_speed_limit_section = json.loads(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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