nav: show ETA and remaining distance (#21188)

* abbreviate distance

* static values

* update distance

* set eta

* use distance along geometry to compute eta

* add traffic info

* formatting improvements

* remove old

* add using git lfs

* git lfs

* cleanup

* abstract

* bit larger
old-commit-hash: 561f3b3191

phonelibs/qt-plugins/.gitattributes

@@ -1 +0,0 @@
-x86_64 filter=lfs diff=lfs merge=lfs -text

phonelibs/qt-plugins/x86_64/geoservices/.gitattributes

@@ -0,0 +1 @@
+libqtgeoservices_mapbox.so filter=lfs diff=lfs merge=lfs -text

phonelibs/qt-plugins/x86_64/geoservices/libqtgeoservices_mapbox.so

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7d00791691ec3d2a3e0ed99c9b65ef5b3df21cdd6c3df3b1274ed5e5ea49bbe8
+oid sha256:5c8bda321dc524e753f67823cb5353358e756cfc1c5328e22e32920e80dd9e9b
-size 12163664
+size 12166248

selfdrive/ui/qt/maps/map.cc

@@ -37,12 +37,18 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
 
   // Instructions
   map_instructions = new MapInstructions(this);
-  connect(this, SIGNAL(instructionsChanged(QMap<QString, QVariant>)),
+  connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
-          map_instructions, SLOT(updateInstructions(QMap<QString, QVariant>)));
+  connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance);
-  connect(this, SIGNAL(distanceChanged(float)),
-          map_instructions, SLOT(updateDistance(float)));
   map_instructions->setFixedWidth(width());
 
+  map_eta = new MapETA(this);
+  connect(this, &MapWindow::ETAChanged, map_eta, &MapETA::updateETA);
+
+  const int h = 180;
+  const int w = 500;
+  map_eta->setGeometry(0, 1080 - h, w, h);
+  map_eta->setVisible(false);
+
   // Routing
   QVariantMap parameters;
   parameters["mapbox.access_token"] = m_settings.accessToken();
@@ -174,6 +180,9 @@ void MapWindow::timerUpdate() {
           emit instructionsChanged(banner[0].toMap());
         }
 
+        float distance = segment.distance() - distance_along_geometry(segment.path(), to_QGeoCoordinate(last_position));
+        emit distanceChanged(distance);
+        m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
       }
 
       auto next_segment = segment.nextRouteSegment();
@@ -181,9 +190,6 @@ void MapWindow::timerUpdate() {
         auto next_maneuver = next_segment.maneuver();
         if (next_maneuver.isValid()){
           float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(last_position));
-          emit distanceChanged(next_maneuver_distance);
-          m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-
           // Switch to next route segment
           if (next_maneuver_distance < REROUTE_DISTANCE && next_maneuver_distance > last_maneuver_distance){
             segment = next_segment;
@@ -221,9 +227,8 @@ void MapWindow::resizeGL(int w, int h) {
 void MapWindow::initializeGL() {
   m_map.reset(new QMapboxGL(nullptr, m_settings, size(), 1));
 
-  // TODO: Get from last gps position param
   m_map->setCoordinateZoom(last_position, MAX_ZOOM);
-  m_map->setMargins({0, 350, 0, 0});
+  m_map->setMargins({0, 350, 0, 50});
   m_map->setPitch(MIN_PITCH);
   m_map->setStyleUrl("mapbox://styles/pd0wm/cknuhcgvr0vs817o1akcx6pek"); // Larger fonts
 
@@ -239,6 +244,12 @@ void MapWindow::paintGL() {
   m_map->render();
 }
 
+static float get_time_typical(const QGeoRouteSegment &segment){
+  auto maneuver = segment.maneuver();
+  auto attrs = maneuver.extendedAttributes();
+  return attrs.contains("mapbox.duration_typical") ? attrs["mapbox.duration_typical"].toDouble() : segment.travelTime();
+}
+
 
 void MapWindow::recomputeRoute() {
   bool should_recompute = shouldRecompute();
@@ -254,6 +265,8 @@ void MapWindow::recomputeRoute() {
     should_recompute = true;
   }
 
+  if (!should_recompute) updateETA(); // ETA is updated after recompute
+
   if (!gps_ok && segment.isValid()) return; // Don't recompute when gps drifts in tunnels
 
   // Only do API request when map is loaded
@@ -268,6 +281,26 @@ void MapWindow::recomputeRoute() {
   }
 }
 
+void MapWindow::updateETA() {
+  if (segment.isValid()) {
+    float progress = distance_along_geometry(segment.path(), to_QGeoCoordinate(last_position)) / segment.distance();
+    float total_distance = segment.distance() * (1.0 - progress);
+    float total_time = segment.travelTime() * (1.0 - progress);
+    float total_time_typical = get_time_typical(segment) * (1.0 - progress);
+
+    auto s = segment.nextRouteSegment();
+    while (s.isValid()) {
+      total_distance += s.distance();
+      total_time += s.travelTime();
+      total_time_typical += get_time_typical(s);
+
+      s = s.nextRouteSegment();
+    }
+
+    emit ETAChanged(total_time, total_time_typical, total_distance);
+  }
+}
+
 void MapWindow::calculateRoute(QMapbox::Coordinate destination) {
   LOGW("calculating route");
   nav_destination = destination;
@@ -297,6 +330,8 @@ void MapWindow::routeCalculated(QGeoRouteReply *reply) {
     navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
     m_map->updateSource("navSource", navSource);
     m_map->setLayoutProperty("navLayer", "visibility", "visible");
+
+    updateETA();
   }
 
   reply->deleteLater();
@@ -310,6 +345,9 @@ void MapWindow::clearRoute() {
     m_map->setLayoutProperty("navLayer", "visibility", "none");
     m_map->setPitch(MIN_PITCH);
   }
+
+  map_instructions->setVisible(false);
+  map_eta->setVisible(false);
 }
 
 
@@ -466,10 +504,10 @@ void MapInstructions::updateDistance(float d){
 
     if (feet > 500) {
       distance_str.setNum(miles, 'f', 1);
-      distance_str += " miles";
+      distance_str += " mi";
     } else {
       distance_str.setNum(50 * int(feet / 50));
-      distance_str += " feet";
+      distance_str += " ft";
     }
   }
 
@@ -565,3 +603,110 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner){
   adjustSize();
   last_banner = banner;
 }
+
+MapETA::MapETA(QWidget * parent) : QWidget(parent){
+  QHBoxLayout *layout_outer = new QHBoxLayout;
+  layout_outer->setContentsMargins(20, 25, 20, 25);
+
+  {
+    QVBoxLayout *layout = new QVBoxLayout;
+    eta = new QLabel("12:26");
+    eta->setAlignment(Qt::AlignCenter);
+
+    auto eta_unit = new QLabel("eta");
+    eta_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addStretch();
+    layout->addWidget(eta);
+    layout->addWidget(eta_unit);
+    layout->addStretch();
+    layout_outer->addLayout(layout);
+  }
+  {
+    QVBoxLayout *layout = new QVBoxLayout;
+    time = new QLabel("22");
+    time->setStyleSheet(R"(color: green; )");
+    time->setAlignment(Qt::AlignCenter);
+
+    time_unit = new QLabel("min");
+    time_unit->setStyleSheet(R"(color: green; )");
+    time_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addStretch();
+    layout->addWidget(time);
+    layout->addWidget(time_unit);
+    layout->addStretch();
+    layout_outer->addLayout(layout);
+  }
+  {
+    QVBoxLayout *layout = new QVBoxLayout;
+    distance = new QLabel;
+    distance->setAlignment(Qt::AlignCenter);
+    distance_unit = new QLabel;
+    distance_unit->setAlignment(Qt::AlignCenter);
+
+    layout->addStretch();
+    layout->addWidget(distance);
+    layout->addWidget(distance_unit);
+    layout->addStretch();
+    layout_outer->addLayout(layout);
+  }
+
+  setLayout(layout_outer);
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-family: "Inter";
+      font-size: 55px;
+    }
+  )");
+
+  QPalette pal = palette();
+  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
+  setAutoFillBackground(true);
+  setPalette(pal);
+}
+
+
+void MapETA::updateETA(float s, float s_typical, float d) {
+  setVisible(true);
+
+  // ETA
+  auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
+  eta->setText(eta_time.toString("HH:mm"));
+
+  // Remaining time
+  if (s < 3600) {
+    time->setText(QString::number(int(s / 60)));
+    time_unit->setText("min");
+  } else {
+    int hours = int(s) / 3600;
+    time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)));
+    time_unit->setText("hr");
+  }
+
+  if (s / s_typical > 1.5) {
+    time_unit->setStyleSheet(R"(color: red; )");
+    time->setStyleSheet(R"(color: red; )");
+  } else if (s / s_typical > 1.2) {
+    time_unit->setStyleSheet(R"(color: orange; )");
+    time->setStyleSheet(R"(color: orange; )");
+  } else {
+    time_unit->setStyleSheet(R"(color: green; )");
+    time->setStyleSheet(R"(color: green; )");
+  }
+
+  // Distance
+  QString distance_str;
+  float num = 0;
+  if (QUIState::ui_state.scene.is_metric) {
+    num = d / 1000.0;
+    distance_unit->setText("km");
+  } else {
+    num = d * METER_2_MILE;
+    distance_unit->setText("mi");
+  }
+
+  distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
+  distance->setText(distance_str);
+}

selfdrive/ui/qt/maps/map.h

@@ -24,6 +24,41 @@
 #include <QPixmap>
 
 #include "cereal/messaging/messaging.h"
+class MapInstructions : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *distance;
+  QLabel *primary;
+  QLabel *secondary;
+  QLabel *icon_01;
+  QHBoxLayout *lane_layout;
+  QMap<QString, QVariant> last_banner;
+
+public:
+  MapInstructions(QWidget * parent=nullptr);
+
+public slots:
+  void updateDistance(float d);
+  void updateInstructions(QMap<QString, QVariant> banner);
+};
+
+class MapETA : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *eta;
+  QLabel *time;
+  QLabel *time_unit;
+  QLabel *distance;
+  QLabel *distance_unit;
+
+public:
+  MapETA(QWidget * parent=nullptr);
+
+public slots:
+  void updateETA(float seconds, float seconds_typical, float distance);
+};
 
 class MapWindow : public QOpenGLWidget {
   Q_OBJECT
@@ -68,7 +103,10 @@ private:
   QGeoRoutingManager *routing_manager;
   QGeoRoute route;
   QGeoRouteSegment segment;
-  QWidget* map_instructions;
+
+  MapInstructions* map_instructions;
+  MapETA* map_eta;
+
   QMapbox::Coordinate nav_destination;
   double last_maneuver_distance = 1000;
 
@@ -79,6 +117,7 @@ private:
   void calculateRoute(QMapbox::Coordinate destination);
   void clearRoute();
   bool shouldRecompute();
+  void updateETA();
 
 private slots:
   void timerUpdate();
@@ -91,23 +130,6 @@ public slots:
 signals:
   void distanceChanged(float distance);
   void instructionsChanged(QMap<QString, QVariant> banner);
+  void ETAChanged(float seconds, float seconds_typical, float distance);
 };
 
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QHBoxLayout *lane_layout;
-  QMap<QString, QVariant> last_banner;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-
-public slots:
-  void updateDistance(float d);
-  void updateInstructions(QMap<QString, QVariant> banner);
-};

selfdrive/ui/qt/maps/map_helpers.cc

@@ -89,6 +89,30 @@ float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p) {
   return projection.distanceTo(p);
 }
 
+float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos) {
+  if (geometry.size() <= 2) {
+    return geometry[0].distanceTo(pos);
+  }
+
+  // 1. Find segment that is closest to current position
+  // 2. Total distance is sum of distance to start of closest segment
+  //    + all previous segments
+  double total_distance = 0;
+  double total_distance_closest = 0;
+  double closest_distance = std::numeric_limits<double>::max();
+
+  for (int i = 0; i < geometry.size() - 1; i++) {
+    double d = minimum_distance(geometry[i], geometry[i+1], pos);
+    if (d < closest_distance) {
+      closest_distance = d;
+      total_distance_closest = total_distance + geometry[i].distanceTo(pos);
+    }
+    total_distance += geometry[i].distanceTo(geometry[i+1]);
+  }
+
+  return total_distance_closest;
+}
+
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
   QString json_str = QString::fromStdString(Params().get(param));
   if (json_str.isEmpty()) return {};

selfdrive/ui/qt/maps/map_helpers.h

@@ -23,3 +23,4 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordina
 
 float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos);