royjr
3 years ago
commit
342b249407
11 changed files with 100 additions and 20 deletions
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# navigation |
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This directory contains two daemons, `navd` and `map_renderer`, which support navigation in the openpilot stack. |
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### navd |
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`navd` takes in a route through the `NavDestination` param and sends out two packets: `navRoute` and `navInstruction`. These packets contain the coordinates of the planned route and turn-by-turn instructions. |
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### map renderer |
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The map renderer listens for the `navRoute` and publishes a rendered map view over VisionIPC for the navigation model, which lives in `selfdrive/modeld/`. The rendered maps look like this: |
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## development |
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Currently, [mapbox](https://www.mapbox.com/) is used for navigation. |
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* get an API token: https://docs.mapbox.com/help/glossary/access-token/ |
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* set an API token using the `MAPBOX_TOKEN` environment variable |
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* routes/destinations are set through the `NavDestination` param |
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* use `set_destination.py` for debugging |
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* edit the map: https://www.mapbox.com/contribute |
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* mapbox API playground: https://docs.mapbox.com/playground/ |
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#!/usr/bin/env python3 |
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import json |
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import sys |
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from common.params import Params |
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if __name__ == "__main__": |
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params = Params() |
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# set from google maps url |
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if len(sys.argv) > 1: |
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coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",") |
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dest = { |
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"latitude": float(coords[0]), |
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"longitude": float(coords[1]) |
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} |
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params.put("NavDestination", json.dumps(dest)) |
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params.remove("NavDestinationWaypoints") |
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else: |
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print("Setting to Taco Bell") |
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dest = { |
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"latitude": 32.71160109904473, |
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"longitude": -117.12556569985693, |
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} |
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params.put("NavDestination", json.dumps(dest)) |
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waypoints = [ |
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(-117.16020713111648, 32.71997612490662), |
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] |
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params.put("NavDestinationWaypoints", json.dumps(waypoints)) |
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print(dest) |
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print(waypoints) |
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@ -1 +1 @@ |
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67a4bd615017128ce04d0836608d2c7f32432e3e |
358d330ffde4ecd679129b0e0a20806aaf21b786 |
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@ -1,10 +0,0 @@ |
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#!/usr/bin/env python3 |
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import json |
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import sys |
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from common.params import Params |
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if __name__ == "__main__": |
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coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",") |
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dest = {"latitude": float(coords[0]), "longitude": float(coords[1])} |
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Params().put("NavDestination", json.dumps(dest)) |
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