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66 lines
2.0 KiB
Python
66 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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from abc import abstractmethod, ABC
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import cereal.messaging as messaging
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from openpilot.common.params import Params
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from openpilot.common.constants import CV
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from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
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from openpilot.sunnypilot.navd.helpers import coordinate_from_param
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MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
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class BaseMapData(ABC):
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def __init__(self):
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self.params = Params()
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self.sm = messaging.SubMaster(['liveLocationKalman'])
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self.pm = messaging.PubMaster(['liveMapDataSP'])
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self.localizer_valid = False
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self.last_bearing = None
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self.last_position = coordinate_from_param("LastGPSPositionLLK", self.params)
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@abstractmethod
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def update_location(self) -> None:
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pass
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@abstractmethod
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def get_current_speed_limit(self) -> float:
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pass
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@abstractmethod
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def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
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pass
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@abstractmethod
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def get_current_road_name(self) -> str:
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pass
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def publish(self) -> None:
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speed_limit = self.get_current_speed_limit()
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next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
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mapd_sp_send = messaging.new_message('liveMapDataSP')
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mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
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live_map_data = mapd_sp_send.liveMapDataSP
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live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
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live_map_data.speedLimit = speed_limit
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live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
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live_map_data.speedLimitAhead = next_speed_limit
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live_map_data.speedLimitAheadDistance = next_speed_limit_distance
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live_map_data.roadName = self.get_current_road_name()
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self.pm.send('liveMapDataSP', mapd_sp_send)
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def tick(self) -> None:
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self.sm.update(0)
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self.update_location()
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self.publish()
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