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IQ.Pilot Release Commit @ f2a861c

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IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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21
iqpilot/ui/onroad/nav_map_utils.py
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@@ -3,20 +3,14 @@ from urllib.parse import quote
EARTH_RADIUS_M = 6378137.0
TILE_SIZE = 256.0
# Shift the whole driving zoom window closer in. The route-ahead fit (fit_zoom_for_points)
# still zooms out for distant turns and in for straight roads; this just biases the baseline
# so the route line + ego marker are easier to read while driving.
NAV_DRIVE_ZOOM_BOOST = 1.0
def _mercator_normalized(latitude: float, longitude: float) -> tuple[float, float]:
x = (longitude + 180.0) / 360.0
siny = min(max(math.sin(math.radians(latitude)), -0.9999), 0.9999)
y = 0.5 - math.log((1.0 + siny) / (1.0 - siny)) / (4.0 * math.pi)
return x, y
def mercator_world_px(latitude: float, longitude: float, zoom: float) -> tuple[float, float]:
world_size = TILE_SIZE * (2.0 ** zoom)
nx, ny = _mercator_normalized(latitude, longitude)
@@ -24,7 +18,6 @@ def mercator_world_px(latitude: float, longitude: float, zoom: float) -> tuple[f
y = ny * world_size
return x, y
def destination_point(latitude: float, longitude: float, bearing_deg: float, distance_m: float) -> tuple[float, float]:
if abs(distance_m) < 1e-3:
return latitude, longitude
@@ -46,7 +39,6 @@ def destination_point(latitude: float, longitude: float, bearing_deg: float, dis
)
return math.degrees(lat2), math.degrees(lon2)
def fit_zoom_for_points(points, width: float, height: float, max_zoom: float = 17.6,
min_zoom: float = 12.8, padding: float = 56.0) -> float:
coords = [(float(point.latitude), float(point.longitude)) for point in points if point is not None]
@@ -63,7 +55,6 @@ def fit_zoom_for_points(points, width: float, height: float, max_zoom: float = 1
zoom_y = math.log2(usable_height / (TILE_SIZE * span_y))
return max(min(min(zoom_x, zoom_y), max_zoom), min_zoom)
def choose_nav_camera(current_latitude: float, current_longitude: float, bearing_deg: float, points,
width: float, height: float, preferred_zoom: float) -> tuple[float, float, float]:
preferred_zoom += NAV_DRIVE_ZOOM_BOOST
@@ -78,19 +69,16 @@ def choose_nav_camera(current_latitude: float, current_longitude: float, bearing
center_latitude, center_longitude = destination_point(current_latitude, current_longitude, bearing_deg, lookahead_m)
return center_latitude, center_longitude, zoom
def build_mapbox_static_url(latitude: float, longitude: float, zoom: float, bearing: float,
width: int, height: int, points=None) -> str:
overlay = ""
if points:
overlay = f"path-7+34d17a-0.85({encode_polyline(points)})/"
return (
f"https://api.mapbox.com/styles/v1/mapbox/navigation-night-v1/static/"
f"{overlay}{longitude:.6f},{latitude:.6f},{zoom:.2f},{bearing:.1f},0/{width}x{height}@2x"
)
def build_mapbox_tile_url(z: int, x: int, y: int, tile_size: int = 256, scale: int = 2,
style: str = "navigation-night-v1") -> str:
suffix = f"@{scale}x" if scale > 1 else ""
@@ -99,17 +87,14 @@ def build_mapbox_tile_url(z: int, x: int, y: int, tile_size: int = 256, scale: i
f"{tile_size}/{z}/{x}/{y}{suffix}"
)
def tile_world_size(z: int, tile_size: int = 256) -> int:
return tile_size * (2 ** z)
def mercator_world_px_at_zoom(latitude: float, longitude: float, z: int, tile_size: int = 256) -> tuple[float, float]:
world_size = tile_world_size(z, tile_size)
nx, ny = _mercator_normalized(latitude, longitude)
return nx * world_size, ny * world_size
def encode_polyline(points) -> str:
result = []
last_lat = 0
@@ -131,7 +116,6 @@ def encode_polyline(points) -> str:
return quote("".join(result), safe="")
def project_nav_point(latitude: float, longitude: float, center_latitude: float, center_longitude: float,
zoom: float, bearing_deg: float, width: float, height: float,
anchor_x: float = 0.5, anchor_y: float = 0.5) -> tuple[float, float]:
@@ -147,7 +131,6 @@ def project_nav_point(latitude: float, longitude: float, center_latitude: float,
ry = -dx * sin_theta + dy * cos_theta
return width * anchor_x + rx, height * anchor_y + ry
def project_nav_polyline(points, center_latitude: float, center_longitude: float, zoom: float, bearing_deg: float,
width: float, height: float, anchor_x: float = 0.5, anchor_y: float = 0.5) -> list[tuple[float, float]]:
projected = []
@@ -168,10 +151,8 @@ def project_nav_polyline(points, center_latitude: float, center_longitude: float
)
return projected
def solar_elevation_deg(latitude: float, longitude: float, unix_time: float) -> float:
"""Approximate solar elevation (NOAA-style, good to ~0.5 deg) for day/night map styling."""
days = unix_time / 86400.0 - 10957.5 # days since J2000 epoch
days = unix_time / 86400.0 - 10957.5
mean_longitude = math.radians((280.460 + 0.9856474 * days) % 360.0)
mean_anomaly = math.radians((357.528 + 0.9856003 * days) % 360.0)
ecliptic_longitude = mean_longitude + math.radians(1.915) * math.sin(mean_anomaly) \