You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
2.7 KiB
74 lines
2.7 KiB
5 years ago
|
#!/usr/bin/env python3
|
||
|
|
import os
|
||
|
|
import json
|
||
|
|
import numpy as np
|
||
|
|
from common.basedir import BASEDIR
|
||
|
|
from common.realtime import sec_since_boot
|
||
|
|
from shapely.geometry import Point, Polygon
|
||
|
|
|
||
|
|
LATITUDE_DEG_TO_M = 111133 # ~111km per deg is the mean between equator and poles
|
||
|
|
GEOFENCE_THRESHOLD = 8.
|
||
|
|
LOC_FILTER_F = 0.5 # 0.5Hz
|
||
|
|
DT = 0.1 # external gps packets are at 10Hz
|
||
|
|
LOC_FILTER_K = 2 * np.pi * LOC_FILTER_F * DT / (1 + 2 * np.pi * LOC_FILTER_F * DT)
|
||
|
|
|
||
|
|
class Geofence():
|
||
|
|
def __init__(self, active):
|
||
|
|
self.lat_filt = None
|
||
|
|
self.lon_filt = None
|
||
|
|
self.ts_last_check = 0.
|
||
|
|
self.active = active
|
||
|
|
# hack: does not work at north/south poles, and when longitude is ~180
|
||
|
|
self.in_geofence = not active # initialize false if geofence is active
|
||
|
|
# get full geofenced polygon in lat and lon coordinates
|
||
|
|
geofence_polygon = np.load(os.path.join(BASEDIR, 'selfdrive/controls/geofence_routes/press_demo.npy'))
|
||
|
|
# for small latitude variations, we can assume constant conversion between longitude and meters (use the first point)
|
||
|
|
self.longitude_deg_to_m = LATITUDE_DEG_TO_M * np.cos(np.radians(geofence_polygon[0,0]))
|
||
|
|
# convert to m
|
||
|
|
geofence_polygon_m = geofence_polygon * LATITUDE_DEG_TO_M
|
||
|
|
geofence_polygon_m[:, 1] = geofence_polygon[:,1] * self.longitude_deg_to_m
|
||
|
|
self.geofence_polygon = Polygon(geofence_polygon_m)
|
||
|
|
|
||
|
|
|
||
|
|
def update_geofence_status(self, gps_loc, params):
|
||
|
|
|
||
|
|
if self.lat_filt is None:
|
||
|
|
# first time we get a location packet
|
||
|
|
self.latitude = gps_loc.latitude
|
||
|
|
self.longitude = gps_loc.longitude
|
||
|
|
else:
|
||
|
|
# apply a filter
|
||
|
|
self.latitude = LOC_FILTER_K * gps_loc.latitude + (1. - LOC_FILTER_K) * self.latitude
|
||
|
|
self.longitude = LOC_FILTER_K * gps_loc.longitude + (1. - LOC_FILTER_K) * self.longitude
|
||
|
|
|
||
|
|
ts = sec_since_boot()
|
||
|
|
|
||
|
|
if ts - self.ts_last_check > 1.: # tun check at 1Hz, since is computationally intense
|
||
|
|
self.active = params.get("IsGeofenceEnabled") == "1"
|
||
|
|
self.ts_last_check = ts
|
||
|
|
|
||
|
|
p = Point([self.latitude * LATITUDE_DEG_TO_M, self.longitude * self.longitude_deg_to_m])
|
||
|
|
|
||
|
|
# histeresys
|
||
|
|
geofence_distance = self.geofence_polygon.distance(p)
|
||
|
|
if self.in_geofence and geofence_distance > GEOFENCE_THRESHOLD and self.active:
|
||
|
|
self.in_geofence = False
|
||
|
|
elif (not self.in_geofence and geofence_distance < 1.) or not self.active:
|
||
|
|
self.in_geofence = True
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
from common.params import Params
|
||
|
|
# for tests
|
||
|
|
params = Params()
|
||
|
|
gf = Geofence(True)
|
||
|
|
class GpsPos():
|
||
|
|
def __init__(self, lat, lon):
|
||
|
|
self.latitude = lat
|
||
|
|
self.longitude = lon
|
||
|
|
|
||
|
|
#pos = GpsPos(37.687347, -122.471117) # True
|
||
|
|
pos = GpsPos(37.687347, -122.571117) # False
|
||
|
|
gf.update_geofence_status(pos, params)
|
||
|
|
print(gf.in_geofence)
|