Source code for selfdrive.navd.map_renderer

#!/usr/bin/env python3
# You might need to uninstall the PyQt5 pip package to avoid conflicts

import os
import time
import numpy as np
import polyline
from cffi import FFI

from openpilot.common.ffi_wrapper import suffix
from openpilot.common.basedir import BASEDIR

HEIGHT = WIDTH = SIZE = 256
METERS_PER_PIXEL = 2


[docs] def get_ffi(): lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix()) ffi = FFI() ffi.cdef(""" void* map_renderer_init(char *maps_host, char *token); void map_renderer_update_position(void *inst, float lat, float lon, float bearing); void map_renderer_update_route(void *inst, char *polyline); void map_renderer_update(void *inst); void map_renderer_process(void *inst); bool map_renderer_loaded(void *inst); uint8_t* map_renderer_get_image(void *inst); void map_renderer_free_image(void *inst, uint8_t *buf); """) return ffi, ffi.dlopen(lib)
[docs] def wait_ready(lib, renderer): while not lib.map_renderer_loaded(renderer): lib.map_renderer_update(renderer) # The main qt app is not execed, so we need to periodically process events for e.g. network requests lib.map_renderer_process(renderer) time.sleep(0.01)
[docs] def get_image(lib, renderer): buf = lib.map_renderer_get_image(renderer) r = list(buf[0:WIDTH * HEIGHT]) lib.map_renderer_free_image(renderer, buf) # Convert to numpy r = np.asarray(r) return r.reshape((WIDTH, HEIGHT))
[docs] def coords_to_polyline(coords): # TODO: where does this factor of 10 come from? return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
[docs] def polyline_to_coords(p): coords = polyline.decode(p) return [(lat / 10., lon / 10.) for lat, lon in coords]
if __name__ == "__main__": import matplotlib.pyplot as plt ffi, lib = get_ffi() renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL) wait_ready(lib, renderer) 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 lib.map_renderer_update_route(renderer, geometry.encode()) POSITIONS = [ (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam ] plt.figure() for i, pos in enumerate(POSITIONS): t = time.time() lib.map_renderer_update_position(renderer, *pos) wait_ready(lib, renderer) print(f"{pos} took {time.time() - t:.2f} s") plt.subplot(2, 2, i + 1) plt.imshow(get_image(lib, renderer), cmap='gray') plt.show()