Merge remote-tracking branch 'origin/navigationd-service' into nav-desires

cereal/custom.capnp

@@ -466,6 +466,7 @@ struct Navigationd @0xcb9fd56c7057593a {
     distance @0 :Float64;
     type @1 :Text;
     modifier @2 :Text;
+    instruction @3 :Text;
   }
 }
 

sunnypilot/navd/helpers.py

@@ -64,7 +64,10 @@ class Coordinate:
     haversine_dlon = math.sin(dlon / 2.0)
     haversine_dlon *= haversine_dlon
 
-    y = haversine_dlat + math.cos(math.radians(self.latitude)) * math.cos(math.radians(other.latitude)) * haversine_dlon
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
     x = 2 * math.asin(math.sqrt(y))
     return x * EARTH_MEAN_RADIUS
 

sunnypilot/navd/navigation_helpers/nav_instructions.py

@@ -44,7 +44,7 @@ class NavigationInstructions:
         distance = distance_to_end_of_step
       else:
         distance = step['cumulative_distance'] - closest_cumulative
-      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier']})
+      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
 
     return {
       'distance_from_route': min_distance,
@@ -85,6 +85,7 @@ class NavigationInstructions:
         'cumulative_distance': cumulative_distances[closest_idx],
         'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)],
         'modifier': string_to_direction(step['modifier']),
+        'instruction': step['instruction'],
       })
     self._cached_route = {
       'steps': steps,

sunnypilot/navd/navigationd.py

@@ -95,7 +95,8 @@ class Navigationd:
     msg.navigationd.valid = self.valid
 
     all_maneuvers = (
-      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier']) for m in progress['all_maneuvers']]
+      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
+                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
       if progress
       else []
     )