From ec900d0389f56bb213654a32461bf113e51d38be Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 25 Jul 2023 01:28:17 -0700
Subject: [PATCH] navd: don't use empty last step banner instructions (#29034)

* fix empty banner instructions when arriving at destination

* bug fixes

* hide distance on arrival

* stash

* simpler

* can also do this, but i don't like modifying the response

* clean up

* rm

* revert

* rm

* flip this order

* move up

* need to flip order

* Revert "need to flip order"

This reverts commit ba961b8e6aa5d9490ab0dc661866cff9c72db91d.

* Revert "move up"

This reverts commit f1a4d8ae883080d52547fdaf9472457050e40669.

* Update selfdrive/navd/navd.py
old-commit-hash: 412ed6a017acef84e42395299042717d7120544b
---
 selfdrive/navd/navd.py                   | 7 ++++++-
 selfdrive/ui/qt/maps/map_instructions.cc | 3 +++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 29a390bad..a2fc725be 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -219,9 +219,14 @@ class RouteEngine:
     along_geometry = distance_along_geometry(geometry, self.last_position)
     distance_to_maneuver_along_geometry = step['distance'] - along_geometry
 
+    # Banner instructions are for the following maneuver step, don't use empty last step
+    banner_step = step
+    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
+      banner_step = self.route[max(self.step_idx - 1, 0)]
+
     # Current instruction
     msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry)
+    parse_banner_instructions(msg.navInstruction, banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
 
     # Compute total remaining time and distance
     remaining = 1.0 - along_geometry / max(step['distance'], 1)
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
index fc7f80690..9009ab139 100644
--- a/selfdrive/ui/qt/maps/map_instructions.cc
+++ b/selfdrive/ui/qt/maps/map_instructions.cc
@@ -102,6 +102,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
     icon_01->setVisible(true);
   }
 
+  // Hide distance after arrival
+  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
+
   // Show lanes
   auto lanes = instruction.getLanes();
   for (int i = 0; i < lanes.size(); ++i) {