105 lines
3.2 KiB
Python
105 lines
3.2 KiB
Python
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import math
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import numpy as np
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import os
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import shutil
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import subprocess
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import threading
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import time
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import urllib.request
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from openpilot.common.numpy_fast import interp, mean
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from openpilot.common.params_pyx import Params
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EARTH_RADIUS = 6378137 # Radius of the Earth in meters
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def update_frogpilot_toggles():
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Params("/dev/shm/params").put_bool("FrogPilotTogglesUpdated", True)
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def calculate_distance_to_point(ax, ay, bx, by):
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a = math.sin((bx - ax) / 2) * math.sin((bx - ax) / 2) + math.cos(ax) * math.cos(bx) * math.sin((by - ay) / 2) * math.sin((by - ay) / 2)
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c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
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return EARTH_RADIUS * c
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def calculate_lane_width(lane, current_lane, road_edge):
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current_x = np.array(current_lane.x)
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current_y = np.array(current_lane.y)
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lane_y_interp = interp(current_x, np.array(lane.x), np.array(lane.y))
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road_edge_y_interp = interp(current_x, np.array(road_edge.x), np.array(road_edge.y))
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distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
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distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
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return float(min(distance_to_lane, distance_to_road_edge))
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# Credit goes to Pfeiferj!
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def calculate_road_curvature(modelData, v_ego):
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orientation_rate = np.abs(modelData.orientationRate.z)
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velocity = modelData.velocity.x
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max_pred_lat_acc = np.amax(orientation_rate * velocity)
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return max_pred_lat_acc / v_ego**2
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def copy_if_exists(source, destination, single_file_name=None):
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if not os.path.exists(source):
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print(f"Source directory {source} does not exist. Skipping copy.")
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return
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if single_file_name:
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os.makedirs(destination, exist_ok=True)
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for item in os.listdir(source):
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shutil.copy2(os.path.join(source, item), os.path.join(destination, single_file_name))
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print(f"Successfully copied {item} to {single_file_name}.")
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else:
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shutil.copytree(source, destination, dirs_exist_ok=True)
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print(f"Successfully copied {source} to {destination}.")
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def delete_file(file):
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try:
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if os.path.isfile(file):
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os.remove(file)
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print(f"Deleted file: {file}")
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else:
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print(f"File not found: {file}")
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except Exception as e:
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print(f"An error occurred when deleting {file}: {e}")
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def is_url_pingable(url, timeout=5):
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try:
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urllib.request.urlopen(urllib.request.Request(url, headers={'User-Agent': 'Mozilla/5.0'}), timeout=timeout)
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return True
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except Exception as e:
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print(f"Failed to ping {url}: {e}")
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return False
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def run_cmd(cmd, success_message, fail_message, retries=5, delay=1):
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for attempt in range(retries):
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try:
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subprocess.check_call(cmd)
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print(success_message)
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return True
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except Exception as e:
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print(f"Unexpected error occurred (attempt {attempt + 1} of {retries}): {e}")
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time.sleep(delay)
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print(fail_message)
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return False
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class MovingAverageCalculator:
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def __init__(self):
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self.reset_data()
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def add_data(self, value):
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if len(self.data) == 5:
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self.total -= self.data.pop(0)
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self.data.append(value)
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self.total += value
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def get_moving_average(self):
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if len(self.data) == 0:
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return None
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return self.total / len(self.data)
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def reset_data(self):
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self.data = []
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self.total = 0
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