From 3b8cc9113ab7bc48cfc502961f35582edc0d1c3a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Aug 2023 20:32:00 -0700
Subject: [PATCH] map renderer: only log map states once fully loaded (#29722)

only log once fully loaded
old-commit-hash: 6a68944c638029361a7776cff08816919ecac351
---
 selfdrive/navd/map_renderer.cc | 14 +++++++++-----
 selfdrive/navd/map_renderer.h  |  1 +
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 44acc67b94..543515c631 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -64,6 +64,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM);
   m_map->setStyleJson(style.c_str());
   m_map->createRenderer();
+  ever_loaded = false;
 
   m_map->resize(fbo->size());
   m_map->setFramebufferObject(fbo->handle(), fbo->size());
@@ -72,11 +73,13 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
     // Ignore expected signals
     // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
-        change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
-        change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
-        change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
-      LOGD("New map state: %d", change);
+    if (ever_loaded) {
+      if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
+          change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
+          change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
+          change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
+        LOGD("New map state: %d", change);
+      }
     }
   });
 
@@ -188,6 +191,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) {
 
   auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
   bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
+  ever_loaded = ever_loaded || loaded;
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 5739ba88f2..dc92c70b0f 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -49,6 +49,7 @@ private:
   }
 
   QTimer* timer;
+  bool ever_loaded = false;
 
 public slots:
   void updatePosition(QMapbox::Coordinate position, float bearing);