mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-13 22:12:07 +08:00
Jason Wen
bf659453aa
* move-fast: Hands on wheel monitoring: Implementation according to r079r4e regulation * move-fast: VisionTurnController Implementation & UI prerequisites * move-fast: LiveMapData: Implementation & UI prerequisites * add dependencies * move-fast: SpeedLimitControl: Implementation & UI prerequisites * move-fast: TurnSpeedController: Implementation & UI prerequisites * move-fast: Debug: Tap on Ui to capture snapshot of debug data & UI prerequisites * Debug UI: Toggle to display debug UI elements & UI prerequisites
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
import overpy
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import numpy as np
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from selfdrive.mapd.lib.geo import R
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def create_way(way_id, node_ids, from_way):
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"""
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Creates and OSM Way with the given `way_id` and list of `node_ids`, copying attributes and tags from `from_way`
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"""
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return overpy.Way(way_id, node_ids=node_ids, attributes={}, result=from_way._result,
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tags=from_way.tags)
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class OSM():
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def __init__(self):
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self.api = overpy.Overpass()
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# self.api = overpy.Overpass(url='http://3.65.170.21/api/interpreter')
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def fetch_road_ways_around_location(self, lat, lon, radius):
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# Calculate the bounding box coordinates for the bbox containing the circle around location.
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bbox_angle = np.degrees(radius / R)
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# fetch all ways and nodes on this ways in bbox
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bbox_str = f'{str(lat - bbox_angle)},{str(lon - bbox_angle)},{str(lat + bbox_angle)},{str(lon + bbox_angle)}'
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q = """
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way(""" + bbox_str + """)
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[highway]
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[highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
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(._;>;);
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out;
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"""
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try:
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ways = self.api.query(q).ways
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except Exception as e:
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print(f'Exception while querying OSM:\n{e}')
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ways = []
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return ways
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