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clean up

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pull/24632/head
Shane Smiskol 3 years ago
parent 93772c0e2b
commit 5bf026008d
5 changed files with 19 additions and 107 deletions
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  1. 1
      SConstruct
  2. 4
      selfdrive/ui/navd/map_renderer.cc
  3. 116
      selfdrive/ui/qt/maps/map.cc
  4. 3
      selfdrive/ui/qt/maps/map.h
  5. 2
      selfdrive/ui/qt/onroad.cc

1
SConstruct
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@ -166,6 +166,7 @@ env = Environment(
"-fPIC",
"-O2",
"-Werror",
"-Wunused",
"-Wshadow",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",

4
selfdrive/ui/navd/map_renderer.cc
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@ -39,7 +39,6 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool enable_vipc) :
m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM);
m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr");
m_map->createRenderer();
qDebug() << "m_map reset()";
m_map->resize(fbo->size());
m_map->setFramebufferObject(fbo->handle(), fbo->size());
@ -56,7 +55,6 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool enable_vipc) :
}
void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
qDebug() << "updatePosition()";
if (m_map.isNull()) {
return;
}
@ -71,7 +69,6 @@ bool MapRenderer::loaded() {
}
void MapRenderer::update() {
qDebug() << "MapRenderer::update()";
gl_functions->glClear(GL_COLOR_BUFFER_BIT);
m_map->render();
gl_functions->glFlush();
@ -140,7 +137,6 @@ void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
}
void MapRenderer::initLayers() {
qDebug() << "SHOULDN'T BE HERE";
if (!m_map->layerExists("navLayer")) {
QVariantMap nav;
nav["id"] = "navLayer";

116
selfdrive/ui/qt/maps/map.cc
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@ -27,12 +27,7 @@ const QString ICON_SUFFIX = ".png";
MapWindow::MapWindow(const QMapboxGLSettings &settings) :
m_settings(settings), velocity_filter(0, 10, 0.05) {
// // Connect now, so any navRoutes sent while the map is initializing are not dropped
// sm->update(0);
// timer = new QTimer(this);
// QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
// timer->start(50);
// Update map view with uiUpdate signal
QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
// Instructions
@ -64,9 +59,6 @@ MapWindow::~MapWindow() {
}
void MapWindow::initLayers() {
// if (layers_initialized) return;
// if (!gl_initialized) return;
layers_initialized = true;
// This doesn't work from initializeGL
if (!m_map->layerExists("modelPathLayer")) {
qDebug() << "Initializing modelPathLayer";
@ -105,7 +97,6 @@ void MapWindow::initLayers() {
m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
// if (m_map->layerExists("carPosLayer")) car_layer_initialized = true;
}
}
@ -113,17 +104,8 @@ void MapWindow::updateState(const UIState &s) {
if (!uiState()->scene.started) {
return;
}
// double t = millis_since_boot();
// double e;
// update();
// qDebug() << "updateState()";
const SubMaster &sm = *(s.sm);
// e = millis_since_boot() - t;
// qDebug() << "update():" << e << "ms";
// t = millis_since_boot();
//
//// sm.update(0);
if (sm.updated("liveLocationKalman")) {
auto location = sm["liveLocationKalman"].getLiveLocationKalman();
auto pos = location.getPositionGeodetic();
@ -139,11 +121,7 @@ void MapWindow::updateState(const UIState &s) {
velocity_filter.update(velocity.getValue()[0]);
}
}
//
// e = millis_since_boot() - t;
// qDebug() << "liveLocationKalman:" << e << "ms";
// t = millis_since_boot();
//
if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
@ -153,39 +131,19 @@ void MapWindow::updateState(const UIState &s) {
allow_open = false;
}
}
//
// e = millis_since_boot() - t;
// qDebug() << "navRoute:" << e << "ms";
// t = millis_since_boot();
//
if (m_map.isNull()) {
return;
}
//
// loaded_once = loaded_once || m_map->isFullyLoaded();
// if (!loaded_once) {
// map_instructions->showError("Map Loading");
// return;
// }
//
// e = millis_since_boot() - t;
// qDebug() << "instructions:" << e << "ms";
// t = millis_since_boot();
//
// if (gl_initialized) {
qDebug() << "About to initialize layers";
initLayers();
QVector<QString> layers = m_map->layerIds();
qDebug() << "layer size:" << layers.size();
// for (auto layer_id : layers) {
// qDebug() << layer_id;
// }
// }
//
// e = millis_since_boot() - t;
// qDebug() << "initLayers:" << e << "ms";
// t = millis_since_boot();
//
loaded_once = loaded_once || m_map->isFullyLoaded();
if (!loaded_once) {
map_instructions->showError("Map Loading");
return;
}
initLayers();
if (!localizer_valid) {
map_instructions->showError("Waiting for GPS");
} else {
@ -199,37 +157,20 @@ void MapWindow::updateState(const UIState &s) {
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
m_map->updateSource("carPosSource", carPosSource);
}
//
// e = millis_since_boot() - t;
// qDebug() << "location marker:" << an_counter == 0) {
// if (last_position) m_map->setCoordinate(*last_position);
// if (last_bearing) m_map->setBearing(*last_bearing);
// } else {
// pan_counter--;
// }e << "ms";
// t = millis_since_boot();
//
if (pan_counter == 0) {
if (last_position) m_map->setCoordinate(*last_position);
if (last_bearing) m_map->setBearing(*last_bearing);
} else {
pan_counter--;
}
//
// e = millis_since_boot() - t;
// qDebug() << "pan counter:" << e << "ms";
// t = millis_since_boot();
//
if (zoom_counter == 0) {
m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
} else {
zoom_counter--;
}
// e = millis_since_boot() - t;
// qDebug() << "zoom counter:" << e << "ms";
// t = millis_since_boot();
//
if (sm.updated("navInstruction")) {
if (sm.valid("navInstruction")) {
auto i = sm["navInstruction"].getNavInstruction();
@ -245,11 +186,7 @@ void MapWindow::updateState(const UIState &s) {
clearRoute();
}
}
//
// e = millis_since_boot() - t;
// qDebug() << "navInstruction:" << e << "ms";
// t = millis_since_boot();
//
if (sm.rcv_frame("navRoute") != route_rcv_frame) {
qWarning() << "Updating navLayer with new route";
auto route = sm["navRoute"].getNavRoute();
@ -263,22 +200,16 @@ void MapWindow::updateState(const UIState &s) {
route_rcv_frame = sm.rcv_frame("navRoute");
}
//
// e = millis_since_boot() - t;
// qDebug() << "navRoute:" << e << "ms";
// t = millis_since_boot();
// qDebug() << "\n\n";
update();
}
void MapWindow::resizeGL(int w, int h) {
qDebug() << "resizeGL";
m_map->resize(size() / MAP_SCALE);
map_instructions->setFixedWidth(width());
}
void MapWindow::initializeGL() {
qDebug() << "initializeGL";
m_map.reset(new QMapboxGL(this, m_settings, size(), 1));
if (last_position) {
@ -296,7 +227,6 @@ void MapWindow::initializeGL() {
loaded_once = true;
}
});
gl_initialized = true;
}
void MapWindow::paintGL() {
@ -304,7 +234,6 @@ void MapWindow::paintGL() {
if (!isVisible() || m_map.isNull()) return;
m_map->render();
double e = millis_since_boot() - t;
qDebug() << "MapWindow::paintGL():" << e << "ms";
}
void MapWindow::clearRoute() {
@ -327,22 +256,17 @@ void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
if (last_position) m_map->setCoordinate(*last_position);
if (last_bearing) m_map->setBearing(*last_bearing);
m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
// update();
pan_counter = 0;
zoom_counter = 0;
}
void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
double t = millis_since_boot();
QPointF delta = ev->localPos() - m_lastPos;
if (!delta.isNull()) {
pan_counter = PAN_TIMEOUT;
m_map->moveBy(delta / MAP_SCALE);
update();
double e = millis_since_boot() - t;
qDebug() << "MapWindow::mouseMoveEvent():" << e << "ms";
}
m_lastPos = ev->localPos();
@ -360,8 +284,6 @@ void MapWindow::wheelEvent(QWheelEvent *ev) {
}
m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
// update();
zoom_counter = PAN_TIMEOUT;
ev->accept();
}
@ -386,7 +308,6 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
if (changeFlags & QPinchGesture::ScaleFactorChanged) {
// TODO: figure out why gesture centerPoint doesn't work
m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
// update();
zoom_counter = PAN_TIMEOUT;
}
}
@ -453,7 +374,6 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
}
void MapInstructions::updateDistance(float d) {
qDebug() << "updateDistance";
d = std::max(d, 0.0f);
QString distance_str;
@ -652,7 +572,6 @@ void MapETA::updateETA(float s, float s_typical, float d) {
hide();
return;
}
qDebug() << "updateETA";
// ETA
auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
@ -703,7 +622,6 @@ void MapETA::updateETA(float s, float s_typical, float d) {
show();
adjustSize();
qDebug() << "repaint()";
repaint();
adjustSize();

3
selfdrive/ui/qt/maps/map.h
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@ -80,9 +80,6 @@ private:
QMapboxGLSettings m_settings;
QScopedPointer<QMapboxGL> m_map;
bool car_layer_initialized = false;
bool layers_initialized = false;
bool gl_initialized = false;
void initLayers();

2
selfdrive/ui/qt/onroad.cc
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@ -73,7 +73,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
void OnroadWindow::offroadTransition(bool offroad) {
#ifdef ENABLE_MAPS
if (!offroad) {
if (map == nullptr) {
if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
MapWindow * m = new MapWindow(get_mapbox_settings());
map = m;

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