Willem Melching
5 years ago
parent
cb2fe8277d
commit
ed69033e66
5 changed files with 0 additions and 1005 deletions
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{ |
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"_comment": "These speeds are from https://wiki.openstreetmap.org/wiki/Speed_limits Special cases have been stripped", |
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"AR:urban": "40", |
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"AR:urban:primary": "60", |
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"AR:urban:secondary": "60", |
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"AR:rural": "110", |
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"AT:urban": "50", |
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"AT:rural": "100", |
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"AT:trunk": "100", |
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"AT:motorway": "130", |
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"BE:urban": "50", |
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"BE-VLG:rural": "70", |
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"BE-WAL:rural": "90", |
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"BE:trunk": "120", |
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"BE:motorway": "120", |
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"CH:urban[1]": "50", |
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"CH:rural": "80", |
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"CH:trunk": "100", |
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"CH:motorway": "120", |
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"CZ:pedestrian_zone": "20", |
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"CZ:living_street": "20", |
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"CZ:urban": "50", |
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"CZ:urban_trunk": "80", |
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"CZ:urban_motorway": "80", |
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"CZ:rural": "90", |
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"CZ:trunk": "110", |
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"CZ:motorway": "130", |
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"DK:urban": "50", |
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"DK:rural": "80", |
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"DK:motorway": "130", |
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"DE:living_street": "7", |
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"DE:residential": "30", |
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"DE:urban": "50", |
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"DE:rural": "100", |
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"DE:trunk": "none", |
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"DE:motorway": "none", |
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"FI:urban": "50", |
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"FI:rural": "80", |
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"FI:trunk": "100", |
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"FI:motorway": "120", |
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"FR:urban": "50", |
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"FR:rural": "80", |
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"FR:trunk": "110", |
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"FR:motorway": "130", |
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"GR:urban": "50", |
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"GR:rural": "90", |
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"GR:trunk": "110", |
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"GR:motorway": "130", |
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"HU:urban": "50", |
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"HU:rural": "90", |
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"HU:trunk": "110", |
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"HU:motorway": "130", |
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"IT:urban": "50", |
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"IT:rural": "90", |
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"IT:trunk": "110", |
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"IT:motorway": "130", |
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"JP:national": "60", |
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"JP:motorway": "100", |
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"LT:living_street": "20", |
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"LT:urban": "50", |
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"LT:rural": "90", |
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"LT:trunk": "120", |
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"LT:motorway": "130", |
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"PL:living_street": "20", |
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"PL:urban": "50", |
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"PL:rural": "90", |
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"PL:trunk": "100", |
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"PL:motorway": "140", |
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"RO:urban": "50", |
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"RO:rural": "90", |
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"RO:trunk": "100", |
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"RO:motorway": "130", |
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"RU:living_street": "20", |
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"RU:urban": "60", |
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"RU:rural": "90", |
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"RU:motorway": "110", |
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"SK:urban": "50", |
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"SK:rural": "90", |
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"SK:trunk": "90", |
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"SK:motorway": "90", |
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"SI:urban": "50", |
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"SI:rural": "90", |
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"SI:trunk": "110", |
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"SI:motorway": "130", |
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"ES:living_street": "20", |
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"ES:urban": "50", |
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"ES:rural": "50", |
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"ES:trunk": "90", |
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"ES:motorway": "120", |
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"SE:urban": "50", |
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"SE:rural": "70", |
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"SE:trunk": "90", |
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"SE:motorway": "110", |
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"GB:nsl_restricted": "30 mph", |
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"GB:nsl_single": "60 mph", |
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"GB:nsl_dual": "70 mph", |
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"GB:motorway": "70 mph", |
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"UA:urban": "50", |
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"UA:rural": "90", |
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"UA:trunk": "110", |
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"UA:motorway": "130", |
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"UZ:living_street": "30", |
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"UZ:urban": "70", |
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"UZ:rural": "100", |
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"UZ:motorway": "110" |
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} |
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@ -1,240 +0,0 @@ |
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#!/usr/bin/env python3 |
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import json |
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DEFAULT_OUTPUT_FILENAME = "default_speeds_by_region.json" |
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def main(filename = DEFAULT_OUTPUT_FILENAME): |
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countries = [] |
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""" |
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-------------------------------------------------- |
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US - United State of America |
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-------------------------------------------------- |
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""" |
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US = Country("US") # First step, create the country using the ISO 3166 two letter code |
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countries.append(US) # Second step, add the country to countries list |
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""" Default rules """ |
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# Third step, add some default rules for the country |
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# Speed limit rules are based on OpenStreetMaps (OSM) tags. |
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# The dictionary {...} defines the tag_name: value |
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# if a road in OSM has a tag with the name tag_name and this value, the speed limit listed below will be applied. |
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# The text at the end is the speed limit (use no unit for km/h) |
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# Rules apply in the order in which they are written for each country |
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# Rules for specific regions (states) take priority over country rules |
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# If you modify existing country rules, you must update all existing states without that rule to use the old rule |
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US.add_rule({"highway": "motorway"}, "65 mph") # On US roads with the tag highway and value motorway, the speed limit will default to 65 mph |
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US.add_rule({"highway": "trunk"}, "55 mph") |
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US.add_rule({"highway": "primary"}, "55 mph") |
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US.add_rule({"highway": "secondary"}, "45 mph") |
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US.add_rule({"highway": "tertiary"}, "35 mph") |
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US.add_rule({"highway": "unclassified"}, "55 mph") |
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US.add_rule({"highway": "residential"}, "25 mph") |
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US.add_rule({"highway": "service"}, "25 mph") |
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US.add_rule({"highway": "motorway_link"}, "55 mph") |
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US.add_rule({"highway": "trunk_link"}, "55 mph") |
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US.add_rule({"highway": "primary_link"}, "55 mph") |
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US.add_rule({"highway": "secondary_link"}, "45 mph") |
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US.add_rule({"highway": "tertiary_link"}, "35 mph") |
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US.add_rule({"highway": "living_street"}, "15 mph") |
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""" States """ |
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new_york = US.add_region("New York") # Fourth step, add a state/region to country |
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new_york.add_rule({"highway": "primary"}, "45 mph") # Fifth step , add rules to the state. See the text above for how to write rules |
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new_york.add_rule({"highway": "secondary"}, "55 mph") |
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new_york.add_rule({"highway": "tertiary"}, "55 mph") |
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new_york.add_rule({"highway": "residential"}, "30 mph") |
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new_york.add_rule({"highway": "primary_link"}, "45 mph") |
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new_york.add_rule({"highway": "secondary_link"}, "55 mph") |
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new_york.add_rule({"highway": "tertiary_link"}, "55 mph") |
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# All if not written by the state, the rules will default to the country rules |
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#california = US.add_region("California") |
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# California uses only the default US rules |
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michigan = US.add_region("Michigan") |
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michigan.add_rule({"highway": "motorway"}, "70 mph") |
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oregon = US.add_region("Oregon") |
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oregon.add_rule({"highway": "motorway"}, "55 mph") |
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oregon.add_rule({"highway": "secondary"}, "35 mph") |
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oregon.add_rule({"highway": "tertiary"}, "30 mph") |
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oregon.add_rule({"highway": "service"}, "15 mph") |
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oregon.add_rule({"highway": "secondary_link"}, "35 mph") |
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oregon.add_rule({"highway": "tertiary_link"}, "30 mph") |
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south_dakota = US.add_region("South Dakota") |
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south_dakota.add_rule({"highway": "motorway"}, "80 mph") |
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south_dakota.add_rule({"highway": "trunk"}, "70 mph") |
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south_dakota.add_rule({"highway": "primary"}, "65 mph") |
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south_dakota.add_rule({"highway": "trunk_link"}, "70 mph") |
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south_dakota.add_rule({"highway": "primary_link"}, "65 mph") |
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wisconsin = US.add_region("Wisconsin") |
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wisconsin.add_rule({"highway": "trunk"}, "65 mph") |
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wisconsin.add_rule({"highway": "tertiary"}, "45 mph") |
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wisconsin.add_rule({"highway": "unclassified"}, "35 mph") |
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wisconsin.add_rule({"highway": "trunk_link"}, "65 mph") |
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wisconsin.add_rule({"highway": "tertiary_link"}, "45 mph") |
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""" |
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-------------------------------------------------- |
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AU - Australia |
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-------------------------------------------------- |
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""" |
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AU = Country("AU") |
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countries.append(AU) |
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""" Default rules """ |
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AU.add_rule({"highway": "motorway"}, "100") |
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AU.add_rule({"highway": "trunk"}, "80") |
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AU.add_rule({"highway": "primary"}, "80") |
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AU.add_rule({"highway": "secondary"}, "50") |
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AU.add_rule({"highway": "tertiary"}, "50") |
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AU.add_rule({"highway": "unclassified"}, "80") |
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AU.add_rule({"highway": "residential"}, "50") |
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AU.add_rule({"highway": "service"}, "40") |
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AU.add_rule({"highway": "motorway_link"}, "90") |
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AU.add_rule({"highway": "trunk_link"}, "80") |
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AU.add_rule({"highway": "primary_link"}, "80") |
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AU.add_rule({"highway": "secondary_link"}, "50") |
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AU.add_rule({"highway": "tertiary_link"}, "50") |
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AU.add_rule({"highway": "living_street"}, "30") |
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""" |
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-------------------------------------------------- |
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CA - Canada |
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-------------------------------------------------- |
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""" |
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CA = Country("CA") |
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countries.append(CA) |
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""" Default rules """ |
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CA.add_rule({"highway": "motorway"}, "100") |
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CA.add_rule({"highway": "trunk"}, "80") |
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CA.add_rule({"highway": "primary"}, "80") |
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CA.add_rule({"highway": "secondary"}, "50") |
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CA.add_rule({"highway": "tertiary"}, "50") |
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CA.add_rule({"highway": "unclassified"}, "80") |
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CA.add_rule({"highway": "residential"}, "40") |
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CA.add_rule({"highway": "service"}, "40") |
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CA.add_rule({"highway": "motorway_link"}, "90") |
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CA.add_rule({"highway": "trunk_link"}, "80") |
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CA.add_rule({"highway": "primary_link"}, "80") |
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CA.add_rule({"highway": "secondary_link"}, "50") |
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CA.add_rule({"highway": "tertiary_link"}, "50") |
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CA.add_rule({"highway": "living_street"}, "20") |
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""" |
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-------------------------------------------------- |
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DE - Germany |
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-------------------------------------------------- |
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""" |
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DE = Country("DE") |
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countries.append(DE) |
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""" Default rules """ |
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DE.add_rule({"highway": "motorway"}, "none") |
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DE.add_rule({"highway": "living_street"}, "10") |
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DE.add_rule({"highway": "residential"}, "30") |
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DE.add_rule({"zone:traffic": "DE:rural"}, "100") |
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DE.add_rule({"zone:traffic": "DE:urban"}, "50") |
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DE.add_rule({"zone:maxspeed": "DE:30"}, "30") |
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DE.add_rule({"zone:maxspeed": "DE:urban"}, "50") |
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DE.add_rule({"zone:maxspeed": "DE:rural"}, "100") |
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DE.add_rule({"zone:maxspeed": "DE:motorway"}, "none") |
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DE.add_rule({"bicycle_road": "yes"}, "30") |
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""" |
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-------------------------------------------------- |
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EE - Estonia |
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-------------------------------------------------- |
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""" |
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EE = Country("EE") |
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countries.append(EE) |
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""" Default rules """ |
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EE.add_rule({"highway": "motorway"}, "90") |
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EE.add_rule({"highway": "trunk"}, "90") |
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EE.add_rule({"highway": "primary"}, "90") |
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EE.add_rule({"highway": "secondary"}, "50") |
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EE.add_rule({"highway": "tertiary"}, "50") |
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EE.add_rule({"highway": "unclassified"}, "90") |
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EE.add_rule({"highway": "residential"}, "40") |
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EE.add_rule({"highway": "service"}, "40") |
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EE.add_rule({"highway": "motorway_link"}, "90") |
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EE.add_rule({"highway": "trunk_link"}, "70") |
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EE.add_rule({"highway": "primary_link"}, "70") |
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EE.add_rule({"highway": "secondary_link"}, "50") |
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EE.add_rule({"highway": "tertiary_link"}, "50") |
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EE.add_rule({"highway": "living_street"}, "20") |
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""" --- DO NOT MODIFY CODE BELOW THIS LINE --- """ |
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""" --- ADD YOUR COUNTRY OR STATE ABOVE --- """ |
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# Final step |
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write_json(countries, filename) |
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def write_json(countries, filename = DEFAULT_OUTPUT_FILENAME): |
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out_dict = {} |
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for country in countries: |
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out_dict.update(country.jsonify()) |
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json_string = json.dumps(out_dict, indent=2) |
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with open(filename, "wb") as f: |
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f.write(json_string) |
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class Region(): |
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ALLOWABLE_TAG_KEYS = ["highway", "zone:traffic", "bicycle_road", "zone:maxspeed"] |
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ALLOWABLE_HIGHWAY_TYPES = ["motorway", "trunk", "primary", "secondary", "tertiary", "unclassified", "residential", "service", "motorway_link", "trunk_link", "primary_link", "secondary_link", "tertiary_link", "living_street"] |
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def __init__(self, name): |
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self.name = name |
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self.rules = [] |
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def add_rule(self, tag_conditions, speed): |
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new_rule = {} |
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if not isinstance(tag_conditions, dict): |
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raise TypeError("Rule tag conditions must be dictionary") |
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if not all(tag_key in self.ALLOWABLE_TAG_KEYS for tag_key in tag_conditions): |
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raise ValueError("Rule tag keys must be in allowable tag kesy") # If this is by mistake, please update ALLOWABLE_TAG_KEYS |
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if 'highway' in tag_conditions: |
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if not tag_conditions['highway'] in self.ALLOWABLE_HIGHWAY_TYPES: |
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raise ValueError("Invalid Highway type {}".format(tag_conditions["highway"])) |
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new_rule['tags'] = tag_conditions |
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try: |
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new_rule['speed'] = str(speed) |
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except ValueError: |
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raise ValueError("Rule speed must be string") |
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self.rules.append(new_rule) |
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def jsonify(self): |
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ret_dict = {} |
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ret_dict[self.name] = self.rules |
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return ret_dict |
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class Country(Region): |
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ALLOWABLE_COUNTRY_CODES = ["AF","AX","AL","DZ","AS","AD","AO","AI","AQ","AG","AR","AM","AW","AU","AT","AZ","BS","BH","BD","BB","BY","BE","BZ","BJ","BM","BT","BO","BQ","BA","BW","BV","BR","IO","BN","BG","BF","BI","KH","CM","CA","CV","KY","CF","TD","CL","CN","CX","CC","CO","KM","CG","CD","CK","CR","CI","HR","CU","CW","CY","CZ","DK","DJ","DM","DO","EC","EG","SV","GQ","ER","EE","ET","FK","FO","FJ","FI","FR","GF","PF","TF","GA","GM","GE","DE","GH","GI","GR","GL","GD","GP","GU","GT","GG","GN","GW","GY","HT","HM","VA","HN","HK","HU","IS","IN","ID","IR","IQ","IE","IM","IL","IT","JM","JP","JE","JO","KZ","KE","KI","KP","KR","KW","KG","LA","LV","LB","LS","LR","LY","LI","LT","LU","MO","MK","MG","MW","MY","MV","ML","MT","MH","MQ","MR","MU","YT","MX","FM","MD","MC","MN","ME","MS","MA","MZ","MM","NA","NR","NP","NL","NC","NZ","NI","NE","NG","NU","NF","MP","NO","OM","PK","PW","PS","PA","PG","PY","PE","PH","PN","PL","PT","PR","QA","RE","RO","RU","RW","BL","SH","KN","LC","MF","PM","VC","WS","SM","ST","SA","SN","RS","SC","SL","SG","SX","SK","SI","SB","SO","ZA","GS","SS","ES","LK","SD","SR","SJ","SZ","SE","CH","SY","TW","TJ","TZ","TH","TL","TG","TK","TO","TT","TN","TR","TM","TC","TV","UG","UA","AE","GB","US","UM","UY","UZ","VU","VE","VN","VG","VI","WF","EH","YE","ZM","ZW"] |
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def __init__(self, ISO_3166_alpha_2): |
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Region.__init__(self, ISO_3166_alpha_2) |
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if ISO_3166_alpha_2 not in self.ALLOWABLE_COUNTRY_CODES: |
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raise ValueError("Not valid IOS 3166 country code") |
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self.regions = {} |
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def add_region(self, name): |
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self.regions[name] = Region(name) |
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return self.regions[name] |
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def jsonify(self): |
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ret_dict = {} |
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ret_dict[self.name] = {} |
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for r_name, region in self.regions.items(): |
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ret_dict[self.name].update(region.jsonify()) |
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ret_dict[self.name]['Default'] = self.rules |
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return ret_dict |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__': |
|
||||||
main() |
|
||||||
@ -1,295 +0,0 @@ |
|||||||
#!/usr/bin/env python3 |
|
||||||
|
|
||||||
# Add phonelibs openblas to LD_LIBRARY_PATH if import fails |
|
||||||
from common.basedir import BASEDIR |
|
||||||
try: |
|
||||||
from scipy import spatial |
|
||||||
except ImportError as e: |
|
||||||
import os |
|
||||||
import sys |
|
||||||
|
|
||||||
|
|
||||||
openblas_path = os.path.join(BASEDIR, "phonelibs/openblas/") |
|
||||||
os.environ['LD_LIBRARY_PATH'] += ':' + openblas_path |
|
||||||
|
|
||||||
args = [sys.executable] |
|
||||||
args.extend(sys.argv) |
|
||||||
os.execv(sys.executable, args) |
|
||||||
|
|
||||||
DEFAULT_SPEEDS_BY_REGION_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds_by_region.json" |
|
||||||
from selfdrive.mapd import default_speeds_generator |
|
||||||
default_speeds_generator.main(DEFAULT_SPEEDS_BY_REGION_JSON_FILE) |
|
||||||
|
|
||||||
import os |
|
||||||
import sys |
|
||||||
import time |
|
||||||
import zmq |
|
||||||
import threading |
|
||||||
import numpy as np |
|
||||||
import overpy |
|
||||||
from collections import defaultdict |
|
||||||
|
|
||||||
from common.params import Params |
|
||||||
from common.transformations.coordinates import geodetic2ecef |
|
||||||
from cereal.services import service_list |
|
||||||
import cereal.messaging as messaging |
|
||||||
from selfdrive.mapd.mapd_helpers import MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points |
|
||||||
import selfdrive.crash as crash |
|
||||||
from selfdrive.version import version, dirty |
|
||||||
|
|
||||||
|
|
||||||
OVERPASS_API_URL = "https://overpass.kumi.systems/api/interpreter" |
|
||||||
OVERPASS_HEADERS = { |
|
||||||
'User-Agent': 'NEOS (comma.ai)', |
|
||||||
'Accept-Encoding': 'gzip' |
|
||||||
} |
|
||||||
|
|
||||||
last_gps = None |
|
||||||
query_lock = threading.Lock() |
|
||||||
last_query_result = None |
|
||||||
last_query_pos = None |
|
||||||
cache_valid = False |
|
||||||
|
|
||||||
def build_way_query(lat, lon, radius=50): |
|
||||||
"""Builds a query to find all highways within a given radius around a point""" |
|
||||||
pos = " (around:%f,%f,%f)" % (radius, lat, lon) |
|
||||||
lat_lon = "(%f,%f)" % (lat, lon) |
|
||||||
q = """( |
|
||||||
way |
|
||||||
""" + pos + """ |
|
||||||
[highway][highway!~"^(footway|path|bridleway|steps|cycleway|construction|bus_guideway|escape)$"]; |
|
||||||
>;);out;""" + """is_in""" + lat_lon + """;area._[admin_level~"[24]"]; |
|
||||||
convert area ::id = id(), admin_level = t['admin_level'], |
|
||||||
name = t['name'], "ISO3166-1:alpha2" = t['ISO3166-1:alpha2'];out; |
|
||||||
""" |
|
||||||
return q |
|
||||||
|
|
||||||
|
|
||||||
def query_thread(): |
|
||||||
global last_query_result, last_query_pos, cache_valid |
|
||||||
api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=10.) |
|
||||||
|
|
||||||
while True: |
|
||||||
time.sleep(1) |
|
||||||
if last_gps is not None: |
|
||||||
fix_ok = last_gps.flags & 1 |
|
||||||
if not fix_ok: |
|
||||||
continue |
|
||||||
|
|
||||||
if last_query_pos is not None: |
|
||||||
cur_ecef = geodetic2ecef((last_gps.latitude, last_gps.longitude, last_gps.altitude)) |
|
||||||
prev_ecef = geodetic2ecef((last_query_pos.latitude, last_query_pos.longitude, last_query_pos.altitude)) |
|
||||||
dist = np.linalg.norm(cur_ecef - prev_ecef) |
|
||||||
if dist < 1000: #updated when we are 1km from the edge of the downloaded circle |
|
||||||
continue |
|
||||||
|
|
||||||
if dist > 3000: |
|
||||||
cache_valid = False |
|
||||||
|
|
||||||
q = build_way_query(last_gps.latitude, last_gps.longitude, radius=3000) |
|
||||||
try: |
|
||||||
new_result = api.query(q) |
|
||||||
|
|
||||||
# Build kd-tree |
|
||||||
nodes = [] |
|
||||||
real_nodes = [] |
|
||||||
node_to_way = defaultdict(list) |
|
||||||
location_info = {} |
|
||||||
|
|
||||||
for n in new_result.nodes: |
|
||||||
nodes.append((float(n.lat), float(n.lon), 0)) |
|
||||||
real_nodes.append(n) |
|
||||||
|
|
||||||
for way in new_result.ways: |
|
||||||
for n in way.nodes: |
|
||||||
node_to_way[n.id].append(way) |
|
||||||
|
|
||||||
for area in new_result.areas: |
|
||||||
if area.tags.get('admin_level', '') == "2": |
|
||||||
location_info['country'] = area.tags.get('ISO3166-1:alpha2', '') |
|
||||||
if area.tags.get('admin_level', '') == "4": |
|
||||||
location_info['region'] = area.tags.get('name', '') |
|
||||||
|
|
||||||
nodes = np.asarray(nodes) |
|
||||||
nodes = geodetic2ecef(nodes) |
|
||||||
tree = spatial.cKDTree(nodes) |
|
||||||
|
|
||||||
query_lock.acquire() |
|
||||||
last_query_result = new_result, tree, real_nodes, node_to_way, location_info |
|
||||||
last_query_pos = last_gps |
|
||||||
cache_valid = True |
|
||||||
query_lock.release() |
|
||||||
|
|
||||||
except Exception as e: |
|
||||||
print(e) |
|
||||||
query_lock.acquire() |
|
||||||
last_query_result = None |
|
||||||
query_lock.release() |
|
||||||
|
|
||||||
|
|
||||||
def mapsd_thread(): |
|
||||||
global last_gps |
|
||||||
|
|
||||||
gps_sock = messaging.sub_sock('gpsLocation', conflate=True) |
|
||||||
gps_external_sock = messaging.sub_sock('gpsLocationExternal', conflate=True) |
|
||||||
map_data_sock = messaging.pub_sock('liveMapData') |
|
||||||
|
|
||||||
cur_way = None |
|
||||||
curvature_valid = False |
|
||||||
curvature = None |
|
||||||
upcoming_curvature = 0. |
|
||||||
dist_to_turn = 0. |
|
||||||
road_points = None |
|
||||||
|
|
||||||
while True: |
|
||||||
gps = messaging.recv_one(gps_sock) |
|
||||||
gps_ext = messaging.recv_one_or_none(gps_external_sock) |
|
||||||
|
|
||||||
if gps_ext is not None: |
|
||||||
gps = gps_ext.gpsLocationExternal |
|
||||||
else: |
|
||||||
gps = gps.gpsLocation |
|
||||||
|
|
||||||
last_gps = gps |
|
||||||
|
|
||||||
fix_ok = gps.flags & 1 |
|
||||||
if not fix_ok or last_query_result is None or not cache_valid: |
|
||||||
cur_way = None |
|
||||||
curvature = None |
|
||||||
curvature_valid = False |
|
||||||
upcoming_curvature = 0. |
|
||||||
dist_to_turn = 0. |
|
||||||
road_points = None |
|
||||||
map_valid = False |
|
||||||
else: |
|
||||||
map_valid = True |
|
||||||
lat = gps.latitude |
|
||||||
lon = gps.longitude |
|
||||||
heading = gps.bearing |
|
||||||
speed = gps.speed |
|
||||||
|
|
||||||
query_lock.acquire() |
|
||||||
cur_way = Way.closest(last_query_result, lat, lon, heading, cur_way) |
|
||||||
if cur_way is not None: |
|
||||||
pnts, curvature_valid = cur_way.get_lookahead(lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE) |
|
||||||
|
|
||||||
xs = pnts[:, 0] |
|
||||||
ys = pnts[:, 1] |
|
||||||
road_points = [float(x) for x in xs], [float(y) for y in ys] |
|
||||||
|
|
||||||
if speed < 10: |
|
||||||
curvature_valid = False |
|
||||||
if curvature_valid and pnts.shape[0] <= 3: |
|
||||||
curvature_valid = False |
|
||||||
|
|
||||||
# The curvature is valid when at least MAPS_LOOKAHEAD_DISTANCE of road is found |
|
||||||
if curvature_valid: |
|
||||||
# Compute the curvature for each point |
|
||||||
with np.errstate(divide='ignore'): |
|
||||||
circles = [circle_through_points(*p) for p in zip(pnts, pnts[1:], pnts[2:])] |
|
||||||
circles = np.asarray(circles) |
|
||||||
radii = np.nan_to_num(circles[:, 2]) |
|
||||||
radii[radii < 10] = np.inf |
|
||||||
curvature = 1. / radii |
|
||||||
|
|
||||||
# Index of closest point |
|
||||||
closest = np.argmin(np.linalg.norm(pnts, axis=1)) |
|
||||||
dist_to_closest = pnts[closest, 0] # We can use x distance here since it should be close |
|
||||||
|
|
||||||
# Compute distance along path |
|
||||||
dists = list() |
|
||||||
dists.append(0) |
|
||||||
for p, p_prev in zip(pnts, pnts[1:, :]): |
|
||||||
dists.append(dists[-1] + np.linalg.norm(p - p_prev)) |
|
||||||
dists = np.asarray(dists) |
|
||||||
dists = dists - dists[closest] + dist_to_closest |
|
||||||
dists = dists[1:-1] |
|
||||||
|
|
||||||
close_idx = np.logical_and(dists > 0, dists < 500) |
|
||||||
dists = dists[close_idx] |
|
||||||
curvature = curvature[close_idx] |
|
||||||
|
|
||||||
if len(curvature): |
|
||||||
# TODO: Determine left or right turn |
|
||||||
curvature = np.nan_to_num(curvature) |
|
||||||
|
|
||||||
# Outlier rejection |
|
||||||
new_curvature = np.percentile(curvature, 90, interpolation='lower') |
|
||||||
|
|
||||||
k = 0.6 |
|
||||||
upcoming_curvature = k * upcoming_curvature + (1 - k) * new_curvature |
|
||||||
in_turn_indices = curvature > 0.8 * new_curvature |
|
||||||
|
|
||||||
if np.any(in_turn_indices): |
|
||||||
dist_to_turn = np.min(dists[in_turn_indices]) |
|
||||||
else: |
|
||||||
dist_to_turn = 999 |
|
||||||
else: |
|
||||||
upcoming_curvature = 0. |
|
||||||
dist_to_turn = 999 |
|
||||||
|
|
||||||
query_lock.release() |
|
||||||
|
|
||||||
dat = messaging.new_message('liveMapData') |
|
||||||
|
|
||||||
if last_gps is not None: |
|
||||||
dat.liveMapData.lastGps = last_gps |
|
||||||
|
|
||||||
if cur_way is not None: |
|
||||||
dat.liveMapData.wayId = cur_way.id |
|
||||||
|
|
||||||
# Speed limit |
|
||||||
max_speed = cur_way.max_speed() |
|
||||||
if max_speed is not None: |
|
||||||
dat.liveMapData.speedLimitValid = True |
|
||||||
dat.liveMapData.speedLimit = max_speed |
|
||||||
|
|
||||||
# TODO: use the function below to anticipate upcoming speed limits |
|
||||||
#max_speed_ahead, max_speed_ahead_dist = cur_way.max_speed_ahead(max_speed, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE) |
|
||||||
#if max_speed_ahead is not None and max_speed_ahead_dist is not None: |
|
||||||
# dat.liveMapData.speedLimitAheadValid = True |
|
||||||
# dat.liveMapData.speedLimitAhead = float(max_speed_ahead) |
|
||||||
# dat.liveMapData.speedLimitAheadDistance = float(max_speed_ahead_dist) |
|
||||||
|
|
||||||
|
|
||||||
advisory_max_speed = cur_way.advisory_max_speed() |
|
||||||
if advisory_max_speed is not None: |
|
||||||
dat.liveMapData.speedAdvisoryValid = True |
|
||||||
dat.liveMapData.speedAdvisory = advisory_max_speed |
|
||||||
|
|
||||||
# Curvature |
|
||||||
dat.liveMapData.curvatureValid = curvature_valid |
|
||||||
dat.liveMapData.curvature = float(upcoming_curvature) |
|
||||||
dat.liveMapData.distToTurn = float(dist_to_turn) |
|
||||||
if road_points is not None: |
|
||||||
dat.liveMapData.roadX, dat.liveMapData.roadY = road_points |
|
||||||
if curvature is not None: |
|
||||||
dat.liveMapData.roadCurvatureX = [float(x) for x in dists] |
|
||||||
dat.liveMapData.roadCurvature = [float(x) for x in curvature] |
|
||||||
|
|
||||||
dat.liveMapData.mapValid = map_valid |
|
||||||
|
|
||||||
map_data_sock.send(dat.to_bytes()) |
|
||||||
|
|
||||||
|
|
||||||
def main(): |
|
||||||
params = Params() |
|
||||||
dongle_id = params.get("DongleId") |
|
||||||
crash.bind_user(id=dongle_id) |
|
||||||
crash.bind_extra(version=version, dirty=dirty, is_eon=True) |
|
||||||
crash.install() |
|
||||||
|
|
||||||
main_thread = threading.Thread(target=mapsd_thread) |
|
||||||
main_thread.daemon = True |
|
||||||
main_thread.start() |
|
||||||
|
|
||||||
q_thread = threading.Thread(target=query_thread) |
|
||||||
q_thread.daemon = True |
|
||||||
q_thread.start() |
|
||||||
|
|
||||||
while True: |
|
||||||
time.sleep(0.1) |
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__": |
|
||||||
main() |
|
||||||
@ -1,364 +0,0 @@ |
|||||||
import math |
|
||||||
import json |
|
||||||
import numpy as np |
|
||||||
from datetime import datetime |
|
||||||
from common.basedir import BASEDIR |
|
||||||
from selfdrive.config import Conversions as CV |
|
||||||
from common.transformations.coordinates import LocalCoord, geodetic2ecef |
|
||||||
|
|
||||||
LOOKAHEAD_TIME = 10. |
|
||||||
MAPS_LOOKAHEAD_DISTANCE = 50 * LOOKAHEAD_TIME |
|
||||||
|
|
||||||
DEFAULT_SPEEDS_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds.json" |
|
||||||
DEFAULT_SPEEDS = {} |
|
||||||
with open(DEFAULT_SPEEDS_JSON_FILE, "rb") as f: |
|
||||||
DEFAULT_SPEEDS = json.loads(f.read()) |
|
||||||
|
|
||||||
DEFAULT_SPEEDS_BY_REGION_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds_by_region.json" |
|
||||||
DEFAULT_SPEEDS_BY_REGION = {} |
|
||||||
with open(DEFAULT_SPEEDS_BY_REGION_JSON_FILE, "rb") as f: |
|
||||||
DEFAULT_SPEEDS_BY_REGION = json.loads(f.read()) |
|
||||||
|
|
||||||
def circle_through_points(p1, p2, p3): |
|
||||||
"""Fits a circle through three points |
|
||||||
Formulas from: http://www.ambrsoft.com/trigocalc/circle3d.htm""" |
|
||||||
x1, y1, _ = p1 |
|
||||||
x2, y2, _ = p2 |
|
||||||
x3, y3, _ = p3 |
|
||||||
|
|
||||||
A = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2 |
|
||||||
B = (x1**2 + y1**2) * (y3 - y2) + (x2**2 + y2**2) * (y1 - y3) + (x3**2 + y3**2) * (y2 - y1) |
|
||||||
C = (x1**2 + y1**2) * (x2 - x3) + (x2**2 + y2**2) * (x3 - x1) + (x3**2 + y3**2) * (x1 - x2) |
|
||||||
D = (x1**2 + y1**2) * (x3 * y2 - x2 * y3) + (x2**2 + y2**2) * (x1 * y3 - x3 * y1) + (x3**2 + y3**2) * (x2 * y1 - x1 * y2) |
|
||||||
|
|
||||||
return (-B / (2 * A), - C / (2 * A), np.sqrt((B**2 + C**2 - 4 * A * D) / (4 * A**2))) |
|
||||||
|
|
||||||
def parse_speed_unit(max_speed): |
|
||||||
"""Converts a maxspeed string to m/s based on the unit present in the input. |
|
||||||
OpenStreetMap defaults to kph if no unit is present. """ |
|
||||||
|
|
||||||
if not max_speed: |
|
||||||
return None |
|
||||||
|
|
||||||
conversion = CV.KPH_TO_MS |
|
||||||
if 'mph' in max_speed: |
|
||||||
max_speed = max_speed.replace(' mph', '') |
|
||||||
conversion = CV.MPH_TO_MS |
|
||||||
try: |
|
||||||
return float(max_speed) * conversion |
|
||||||
except ValueError: |
|
||||||
return None |
|
||||||
|
|
||||||
def parse_speed_tags(tags): |
|
||||||
"""Parses tags on a way to find the maxspeed string""" |
|
||||||
max_speed = None |
|
||||||
|
|
||||||
if 'maxspeed' in tags: |
|
||||||
max_speed = tags['maxspeed'] |
|
||||||
|
|
||||||
if 'maxspeed:conditional' in tags: |
|
||||||
try: |
|
||||||
max_speed_cond, cond = tags['maxspeed:conditional'].split(' @ ') |
|
||||||
cond = cond[1:-1] |
|
||||||
|
|
||||||
start, end = cond.split('-') |
|
||||||
now = datetime.now() # TODO: Get time and timezone from gps fix so this will work correctly on replays |
|
||||||
start = datetime.strptime(start, "%H:%M").replace(year=now.year, month=now.month, day=now.day) |
|
||||||
end = datetime.strptime(end, "%H:%M").replace(year=now.year, month=now.month, day=now.day) |
|
||||||
|
|
||||||
if start <= now <= end: |
|
||||||
max_speed = max_speed_cond |
|
||||||
except ValueError: |
|
||||||
pass |
|
||||||
|
|
||||||
if not max_speed and 'source:maxspeed' in tags: |
|
||||||
max_speed = DEFAULT_SPEEDS.get(tags['source:maxspeed'], None) |
|
||||||
if not max_speed and 'maxspeed:type' in tags: |
|
||||||
max_speed = DEFAULT_SPEEDS.get(tags['maxspeed:type'], None) |
|
||||||
|
|
||||||
max_speed = parse_speed_unit(max_speed) |
|
||||||
return max_speed |
|
||||||
|
|
||||||
def geocode_maxspeed(tags, location_info): |
|
||||||
max_speed = None |
|
||||||
try: |
|
||||||
geocode_country = location_info.get('country', '') |
|
||||||
geocode_region = location_info.get('region', '') |
|
||||||
|
|
||||||
country_rules = DEFAULT_SPEEDS_BY_REGION.get(geocode_country, {}) |
|
||||||
country_defaults = country_rules.get('Default', []) |
|
||||||
for rule in country_defaults: |
|
||||||
rule_valid = all( |
|
||||||
tag_name in tags |
|
||||||
and tags[tag_name] == value |
|
||||||
for tag_name, value in rule['tags'].items() |
|
||||||
) |
|
||||||
if rule_valid: |
|
||||||
max_speed = rule['speed'] |
|
||||||
break #stop searching country |
|
||||||
|
|
||||||
region_rules = country_rules.get(geocode_region, []) |
|
||||||
for rule in region_rules: |
|
||||||
rule_valid = all( |
|
||||||
tag_name in tags |
|
||||||
and tags[tag_name] == value |
|
||||||
for tag_name, value in rule['tags'].items() |
|
||||||
) |
|
||||||
if rule_valid: |
|
||||||
max_speed = rule['speed'] |
|
||||||
break #stop searching region |
|
||||||
except KeyError: |
|
||||||
pass |
|
||||||
max_speed = parse_speed_unit(max_speed) |
|
||||||
return max_speed |
|
||||||
|
|
||||||
class Way: |
|
||||||
def __init__(self, way, query_results): |
|
||||||
self.id = way.id |
|
||||||
self.way = way |
|
||||||
self.query_results = query_results |
|
||||||
|
|
||||||
points = list() |
|
||||||
|
|
||||||
for node in self.way.get_nodes(resolve_missing=False): |
|
||||||
points.append((float(node.lat), float(node.lon), 0.)) |
|
||||||
|
|
||||||
self.points = np.asarray(points) |
|
||||||
|
|
||||||
@classmethod |
|
||||||
def closest(cls, query_results, lat, lon, heading, prev_way=None): |
|
||||||
results, tree, real_nodes, node_to_way, location_info = query_results |
|
||||||
|
|
||||||
cur_pos = geodetic2ecef((lat, lon, 0)) |
|
||||||
nodes = tree.query_ball_point(cur_pos, 500) |
|
||||||
|
|
||||||
# If no nodes within 500m, choose closest one |
|
||||||
if not nodes: |
|
||||||
nodes = [tree.query(cur_pos)[1]] |
|
||||||
|
|
||||||
ways = [] |
|
||||||
for n in nodes: |
|
||||||
real_node = real_nodes[n] |
|
||||||
ways += node_to_way[real_node.id] |
|
||||||
ways = set(ways) |
|
||||||
|
|
||||||
closest_way = None |
|
||||||
best_score = None |
|
||||||
for way in ways: |
|
||||||
way = Way(way, query_results) |
|
||||||
points = way.points_in_car_frame(lat, lon, heading) |
|
||||||
|
|
||||||
on_way = way.on_way(lat, lon, heading, points) |
|
||||||
if not on_way: |
|
||||||
continue |
|
||||||
|
|
||||||
# Create mask of points in front and behind |
|
||||||
x = points[:, 0] |
|
||||||
y = points[:, 1] |
|
||||||
angles = np.arctan2(y, x) |
|
||||||
front = np.logical_and((-np.pi / 2) < angles, |
|
||||||
angles < (np.pi / 2)) |
|
||||||
behind = np.logical_not(front) |
|
||||||
|
|
||||||
dists = np.linalg.norm(points, axis=1) |
|
||||||
|
|
||||||
# Get closest point behind the car |
|
||||||
dists_behind = np.copy(dists) |
|
||||||
dists_behind[front] = np.NaN |
|
||||||
closest_behind = points[np.nanargmin(dists_behind)] |
|
||||||
|
|
||||||
# Get closest point in front of the car |
|
||||||
dists_front = np.copy(dists) |
|
||||||
dists_front[behind] = np.NaN |
|
||||||
closest_front = points[np.nanargmin(dists_front)] |
|
||||||
|
|
||||||
# fit line: y = a*x + b |
|
||||||
x1, y1, _ = closest_behind |
|
||||||
x2, y2, _ = closest_front |
|
||||||
a = (y2 - y1) / max((x2 - x1), 1e-5) |
|
||||||
b = y1 - a * x1 |
|
||||||
|
|
||||||
# With a factor of 60 a 20m offset causes the same error as a 20 degree heading error |
|
||||||
# (A 20 degree heading offset results in an a of about 1/3) |
|
||||||
score = abs(a) * 60. + abs(b) |
|
||||||
|
|
||||||
# Prefer same type of road |
|
||||||
if prev_way is not None: |
|
||||||
if way.way.tags.get('highway', '') == prev_way.way.tags.get('highway', ''): |
|
||||||
score *= 0.5 |
|
||||||
|
|
||||||
if closest_way is None or score < best_score: |
|
||||||
closest_way = way |
|
||||||
best_score = score |
|
||||||
|
|
||||||
# Normal score is < 5 |
|
||||||
if best_score > 50: |
|
||||||
return None |
|
||||||
|
|
||||||
return closest_way |
|
||||||
|
|
||||||
def __str__(self): |
|
||||||
return "%s %s" % (self.id, self.way.tags) |
|
||||||
|
|
||||||
def max_speed(self): |
|
||||||
"""Extracts the (conditional) speed limit from a way""" |
|
||||||
if not self.way: |
|
||||||
return None |
|
||||||
|
|
||||||
max_speed = parse_speed_tags(self.way.tags) |
|
||||||
if not max_speed: |
|
||||||
location_info = self.query_results[4] |
|
||||||
max_speed = geocode_maxspeed(self.way.tags, location_info) |
|
||||||
|
|
||||||
return max_speed |
|
||||||
|
|
||||||
def max_speed_ahead(self, current_speed_limit, lat, lon, heading, lookahead): |
|
||||||
"""Look ahead for a max speed""" |
|
||||||
if not self.way: |
|
||||||
return None |
|
||||||
|
|
||||||
speed_ahead = None |
|
||||||
speed_ahead_dist = None |
|
||||||
lookahead_ways = 5 |
|
||||||
way = self |
|
||||||
for i in range(lookahead_ways): |
|
||||||
way_pts = way.points_in_car_frame(lat, lon, heading) |
|
||||||
|
|
||||||
# Check current lookahead distance |
|
||||||
max_dist = np.linalg.norm(way_pts[-1, :]) |
|
||||||
|
|
||||||
if max_dist > 2 * lookahead: |
|
||||||
break |
|
||||||
|
|
||||||
if 'maxspeed' in way.way.tags: |
|
||||||
spd = parse_speed_tags(way.way.tags) |
|
||||||
if not spd: |
|
||||||
location_info = self.query_results[4] |
|
||||||
spd = geocode_maxspeed(way.way.tags, location_info) |
|
||||||
if spd < current_speed_limit: |
|
||||||
speed_ahead = spd |
|
||||||
min_dist = np.linalg.norm(way_pts[1, :]) |
|
||||||
speed_ahead_dist = min_dist |
|
||||||
break |
|
||||||
# Find next way |
|
||||||
way = way.next_way() |
|
||||||
if not way: |
|
||||||
break |
|
||||||
|
|
||||||
return speed_ahead, speed_ahead_dist |
|
||||||
|
|
||||||
def advisory_max_speed(self): |
|
||||||
if not self.way: |
|
||||||
return None |
|
||||||
|
|
||||||
tags = self.way.tags |
|
||||||
adv_speed = None |
|
||||||
|
|
||||||
if 'maxspeed:advisory' in tags: |
|
||||||
adv_speed = tags['maxspeed:advisory'] |
|
||||||
adv_speed = parse_speed_unit(adv_speed) |
|
||||||
return adv_speed |
|
||||||
|
|
||||||
def on_way(self, lat, lon, heading, points=None): |
|
||||||
if points is None: |
|
||||||
points = self.points_in_car_frame(lat, lon, heading) |
|
||||||
x = points[:, 0] |
|
||||||
return np.min(x) < 0. and np.max(x) > 0. |
|
||||||
|
|
||||||
def closest_point(self, lat, lon, heading, points=None): |
|
||||||
if points is None: |
|
||||||
points = self.points_in_car_frame(lat, lon, heading) |
|
||||||
i = np.argmin(np.linalg.norm(points, axis=1)) |
|
||||||
return points[i] |
|
||||||
|
|
||||||
def distance_to_closest_node(self, lat, lon, heading, points=None): |
|
||||||
if points is None: |
|
||||||
points = self.points_in_car_frame(lat, lon, heading) |
|
||||||
return np.min(np.linalg.norm(points, axis=1)) |
|
||||||
|
|
||||||
def points_in_car_frame(self, lat, lon, heading): |
|
||||||
lc = LocalCoord.from_geodetic([lat, lon, 0.]) |
|
||||||
|
|
||||||
# Build rotation matrix |
|
||||||
heading = math.radians(-heading + 90) |
|
||||||
c, s = np.cos(heading), np.sin(heading) |
|
||||||
rot = np.array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]]) |
|
||||||
|
|
||||||
# Convert to local coordinates |
|
||||||
points_carframe = lc.geodetic2ned(self.points).T |
|
||||||
|
|
||||||
# Rotate with heading of car |
|
||||||
points_carframe = np.dot(rot, points_carframe[(1, 0, 2), :]).T |
|
||||||
|
|
||||||
return points_carframe |
|
||||||
|
|
||||||
def next_way(self, backwards=False): |
|
||||||
results, tree, real_nodes, node_to_way, location_info = self.query_results |
|
||||||
|
|
||||||
if backwards: |
|
||||||
node = self.way.nodes[0] |
|
||||||
else: |
|
||||||
node = self.way.nodes[-1] |
|
||||||
|
|
||||||
ways = node_to_way[node.id] |
|
||||||
|
|
||||||
way = None |
|
||||||
try: |
|
||||||
# Simple heuristic to find next way |
|
||||||
ways = [w for w in ways if w.id != self.id] |
|
||||||
ways = [w for w in ways if w.nodes[0] == node] |
|
||||||
|
|
||||||
# Filter on highway tag |
|
||||||
acceptable_tags = list() |
|
||||||
cur_tag = self.way.tags['highway'] |
|
||||||
acceptable_tags.append(cur_tag) |
|
||||||
if cur_tag == 'motorway_link': |
|
||||||
acceptable_tags.append('motorway') |
|
||||||
acceptable_tags.append('trunk') |
|
||||||
acceptable_tags.append('primary') |
|
||||||
ways = [w for w in ways if w.tags['highway'] in acceptable_tags] |
|
||||||
|
|
||||||
# Filter on number of lanes |
|
||||||
cur_num_lanes = int(self.way.tags['lanes']) |
|
||||||
if len(ways) > 1: |
|
||||||
ways_same_lanes = [w for w in ways if int(w.tags['lanes']) == cur_num_lanes] |
|
||||||
if len(ways_same_lanes) == 1: |
|
||||||
ways = ways_same_lanes |
|
||||||
if len(ways) > 1: |
|
||||||
ways = [w for w in ways if int(w.tags['lanes']) > cur_num_lanes] |
|
||||||
if len(ways) == 1: |
|
||||||
way = Way(ways[0], self.query_results) |
|
||||||
|
|
||||||
except (KeyError, ValueError): |
|
||||||
pass |
|
||||||
|
|
||||||
return way |
|
||||||
|
|
||||||
def get_lookahead(self, lat, lon, heading, lookahead): |
|
||||||
pnts = None |
|
||||||
way = self |
|
||||||
valid = False |
|
||||||
|
|
||||||
for i in range(5): |
|
||||||
# Get new points and append to list |
|
||||||
new_pnts = way.points_in_car_frame(lat, lon, heading) |
|
||||||
|
|
||||||
if pnts is None: |
|
||||||
pnts = new_pnts |
|
||||||
else: |
|
||||||
pnts = np.vstack([pnts, new_pnts]) |
|
||||||
|
|
||||||
# Check current lookahead distance |
|
||||||
max_dist = np.linalg.norm(pnts[-1, :]) |
|
||||||
if max_dist > lookahead: |
|
||||||
valid = True |
|
||||||
|
|
||||||
if max_dist > 2 * lookahead: |
|
||||||
break |
|
||||||
|
|
||||||
# Find next way |
|
||||||
way = way.next_way() |
|
||||||
if not way: |
|
||||||
break |
|
||||||
|
|
||||||
return pnts, valid |
|
||||||
Loading…
Reference in new issue