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https://github.com/dragonpilot/dragonpilot.git
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1f2e3aa8b6
version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-30T07:51:42 dp-dev(priv2) master commit: 4e8e00606410c2bbe03b93fc89a91caec37d1f3a
71 lines
2.7 KiB
Python
71 lines
2.7 KiB
Python
import overpy
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import subprocess
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import numpy as np
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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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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.areas = None
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self.osm_local_db_enabled = is_local_osm_installed()
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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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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)$"];
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(._;>;);
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out;"""
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area_q = """is_in""" + lat_lon + """;area._[admin_level~"[24]"];
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convert area ::id = id(), admin_level = t['admin_level'],
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name = t['name'], "ISO3166-1:alpha2" = t['ISO3166-1:alpha2'];out;
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"""
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try:
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if self.osm_local_db_enabled:
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# print("Query OSM from Local Server")
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# q = """
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# way(""" + bbox_str + """)
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# [highway]
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# [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
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# (._;>;);
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# out;"""
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cmd = OSM_QUERY
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cmd.append(f"--request={q}")
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completion = subprocess.run(cmd, check=True, capture_output=True)
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ways = self.api.parse_xml(completion.stdout).ways
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if self.areas is None:
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# 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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self.areas = self.api.query(area_q).areas
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except Exception:
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pass
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areas = self.areas
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else:
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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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except Exception as e:
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# print(f'Exception while querying OSM:\n{e}')
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areas, ways = [],[]
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return areas, ways
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