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