|
|
|
|
#!/usr/bin/env python3
|
|
|
|
|
# You might need to uninstall the PyQt5 pip package to avoid conflicts
|
|
|
|
|
|
|
|
|
|
import os
|
|
|
|
|
import time
|
|
|
|
|
import numpy as np
|
|
|
|
|
from cffi import FFI
|
|
|
|
|
|
|
|
|
|
from common.ffi_wrapper import suffix
|
|
|
|
|
from common.basedir import BASEDIR
|
|
|
|
|
|
|
|
|
|
HEIGHT = WIDTH = SIZE = 512
|
|
|
|
|
METERS_PER_PIXEL = 2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def get_ffi():
|
|
|
|
|
lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
|
|
|
|
|
|
|
|
|
|
ffi = FFI()
|
|
|
|
|
ffi.cdef("""
|
|
|
|
|
void* map_renderer_init(char *maps_host, char *token);
|
|
|
|
|
void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
|
|
|
|
|
void map_renderer_update_route(void *inst, char *polyline);
|
|
|
|
|
void map_renderer_update(void *inst);
|
|
|
|
|
void map_renderer_process(void *inst);
|
|
|
|
|
bool map_renderer_loaded(void *inst);
|
|
|
|
|
uint8_t* map_renderer_get_image(void *inst);
|
|
|
|
|
void map_renderer_free_image(void *inst, uint8_t *buf);
|
|
|
|
|
""")
|
|
|
|
|
return ffi, ffi.dlopen(lib)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def wait_ready(lib, renderer):
|
|
|
|
|
while not lib.map_renderer_loaded(renderer):
|
|
|
|
|
lib.map_renderer_update(renderer)
|
|
|
|
|
|
|
|
|
|
# The main qt app is not execed, so we need to periodically process events for e.g. network requests
|
|
|
|
|
lib.map_renderer_process(renderer)
|
|
|
|
|
|
|
|
|
|
time.sleep(0.01)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def get_image(lib, renderer):
|
|
|
|
|
buf = lib.map_renderer_get_image(renderer)
|
|
|
|
|
r = list(buf[0:WIDTH * HEIGHT])
|
|
|
|
|
lib.map_renderer_free_image(renderer, buf)
|
|
|
|
|
|
|
|
|
|
# Convert to numpy
|
|
|
|
|
r = np.asarray(r)
|
|
|
|
|
return r.reshape((WIDTH, HEIGHT))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if __name__ == "__main__":
|
|
|
|
|
import matplotlib.pyplot as plt
|
|
|
|
|
|
|
|
|
|
ffi, lib = get_ffi()
|
|
|
|
|
renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
|
|
|
|
|
wait_ready(lib, renderer)
|
|
|
|
|
|
|
|
|
|
geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
|
|
|
|
|
lib.map_renderer_update_route(renderer, geometry.encode())
|
|
|
|
|
|
|
|
|
|
POSITIONS = [
|
|
|
|
|
(32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego
|
|
|
|
|
(52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam
|
|
|
|
|
]
|
|
|
|
|
plt.figure()
|
|
|
|
|
|
|
|
|
|
for i, pos in enumerate(POSITIONS):
|
|
|
|
|
t = time.time()
|
|
|
|
|
lib.map_renderer_update_position(renderer, *pos)
|
|
|
|
|
wait_ready(lib, renderer)
|
|
|
|
|
|
|
|
|
|
print(f"{pos} took {time.time() - t:.2f} s")
|
|
|
|
|
|
|
|
|
|
plt.subplot(2, 2, i + 1)
|
|
|
|
|
plt.imshow(get_image(lib, renderer), cmap='gray')
|
|
|
|
|
|
|
|
|
|
plt.show()
|
