mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-24 23:02:06 +08:00
Jason Wen
cc47228363
* Cereal: Use custom reserved structs * bump cereal * fix dmonitoring * pandaStateSP & controlsStateSP * LongitudinalPlanSP * LateralPlanSP * LiveMapDataSP * E2eLongStateSP * fixup! LongitudinalPlanSP * fix * LongitudinalPersonality fix * sync with upstream * bump cereal * LongitudinalPersonalitySP fixed * LongitudinalPlanSP fix * no need * bump cereal * bump panda * no longer logs controlsAllowedLong * bump cereal * bump cereal * fix * LiveMapDataSP fix * MSPA (#217) * Cereal: Use custom reserved structs * fix dmonitoring * sync with upstream * bump cereal * bump cereal * fix * bump cereal * fix * unused * check sm valid * bump cereal * MSPA: Unused service (#218) * bump panda * bump panda * bump panda
72 lines
2.8 KiB
Python
72 lines
2.8 KiB
Python
import overpy
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import subprocess
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import numpy as np
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from cereal import custom
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from common.params import Params
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from selfdrive.mapd.lib.geo import R
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from selfdrive.mapd.lib.helpers import is_local_osm_installed, OSM_QUERY
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DataType = custom.LiveMapDataSP.DataType
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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.param_s = Params()
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self._osm_local_db_enabled = self.param_s.get_bool("OsmLocalDb")
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self._local_osm_installed = is_local_osm_installed(self.param_s)
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# self.api = overpy.Overpass(url='http://3.65.170.21/api/interpreter')
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def _online_query(self, q, area_q):
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print("Query OSM from remote server")
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query = self.api.query(q + area_q)
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areas, ways = query.areas, query.ways
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data_type = DataType.online
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return areas, ways, data_type
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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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lat_lon = "(%f,%f)" % (lat, lon)
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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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area_q = """is_in""" + lat_lon + """;area._[admin_level~"[24]"];
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convert area ::id = id(), admin_level = t['admin_level'],
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name = t['name'], "ISO3166-1:alpha2" = t['ISO3166-1:alpha2'];out;
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"""
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try:
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if self._osm_local_db_enabled and self._local_osm_installed:
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print("Query OSM from local server")
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completion = subprocess.run(OSM_QUERY + [f"--request={q}"], check=True, capture_output=True)
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ways = self.api.parse_xml(completion.stdout).ways
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if completion.returncode == 0 and len(ways) != 0:
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try:
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areas = self.api.query(area_q).areas
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except Exception as e:
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print(f'Exception while querying "AREAS" OSM from local server:\n{e}')
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areas = None
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data_type = DataType.offline
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else:
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areas, ways, data_type = self._online_query(q, area_q)
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else:
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areas, ways, data_type = self._online_query(q, area_q)
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except Exception as e:
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print(f'Exception while querying OSM:\n{e}')
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areas, ways, data_type = [], [], DataType.default
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return areas, ways, data_type
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