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96 lines
3.4 KiB
96 lines
3.4 KiB
#!/usr/bin/env python3
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# You might need to uninstall the PyQt5 pip package to avoid conflicts
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import os
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import time
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import numpy as np
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import polyline
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from cffi import FFI
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from openpilot.common.ffi_wrapper import suffix
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from openpilot.common.basedir import BASEDIR
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HEIGHT = WIDTH = SIZE = 256
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METERS_PER_PIXEL = 2
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def get_ffi():
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lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
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ffi = FFI()
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ffi.cdef("""
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void* map_renderer_init(char *maps_host, char *token);
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void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
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void map_renderer_update_route(void *inst, char *polyline);
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void map_renderer_update(void *inst);
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void map_renderer_process(void *inst);
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bool map_renderer_loaded(void *inst);
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uint8_t* map_renderer_get_image(void *inst);
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void map_renderer_free_image(void *inst, uint8_t *buf);
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""")
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return ffi, ffi.dlopen(lib)
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def wait_ready(lib, renderer):
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while not lib.map_renderer_loaded(renderer):
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lib.map_renderer_update(renderer)
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# The main qt app is not execed, so we need to periodically process events for e.g. network requests
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lib.map_renderer_process(renderer)
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time.sleep(0.01)
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def get_image(lib, renderer):
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buf = lib.map_renderer_get_image(renderer)
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r = list(buf[0:WIDTH * HEIGHT])
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lib.map_renderer_free_image(renderer, buf)
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# Convert to numpy
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r = np.asarray(r)
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return r.reshape((WIDTH, HEIGHT))
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def navRoute_to_polyline(nr):
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coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates]
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return coords_to_polyline(coords)
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def coords_to_polyline(coords):
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# TODO: where does this factor of 10 come from?
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return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
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def polyline_to_coords(p):
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coords = polyline.decode(p)
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return [(lat / 10., lon / 10.) for lat, lon in coords]
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if __name__ == "__main__":
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import matplotlib.pyplot as plt
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ffi, lib = get_ffi()
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renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
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wait_ready(lib, renderer)
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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" # noqa: E501
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lib.map_renderer_update_route(renderer, geometry.encode())
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POSITIONS = [
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(32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego
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(52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam
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]
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plt.figure()
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for i, pos in enumerate(POSITIONS):
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t = time.time()
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lib.map_renderer_update_position(renderer, *pos)
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wait_ready(lib, renderer)
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print(f"{pos} took {time.time() - t:.2f} s")
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plt.subplot(2, 2, i + 1)
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plt.imshow(get_image(lib, renderer), cmap='gray')
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plt.show()
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