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Various nav improvements (#21133)

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* various nav improvements

* use traffic aware routing

* read last position from param

* allow compute without gps when no route

* cleanup

* properly hide route

* set pitch
old-commit-hash: 14f09e4ee1
commatwo_master
Willem Melching 4 years ago committed by GitHub
parent d1068dc263
commit 879a616ba8
6 changed files with 145 additions and 73 deletions
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  1. 2
      selfdrive/common/params.cc
  2. 3
      selfdrive/ui/qt/home.cc
  3. 151
      selfdrive/ui/qt/maps/map.cc
  4. 6
      selfdrive/ui/qt/maps/map.h
  5. 20
      selfdrive/ui/qt/maps/map_helpers.cc
  6. 2
      selfdrive/ui/qt/maps/map_helpers.h

2
selfdrive/common/params.cc
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@ -184,7 +184,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"MapboxToken", PERSISTENT},
{"NavDestination", PERSISTENT}, // TODO: CLEAR_ON_MANAGER_START
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"PandaFirmwareHex", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},

3
selfdrive/ui/qt/home.cc
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@ -50,6 +50,9 @@ void HomeWindow::offroadTransition(bool offroad) {
if (offroad) {
slayout->setCurrentWidget(home);
} else {
if (onroad->map != nullptr){
onroad->map->setVisible(!Params().get("NavDestination").empty());
}
slayout->setCurrentWidget(onroad);
}
sidebar->setVisible(offroad);

151
selfdrive/ui/qt/maps/map.cc
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@ -1,12 +1,11 @@
#include <cmath>
#include <QDebug>
#include <QJsonDocument>
#include <QJsonObject>
#include "selfdrive/common/util.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/params.h"
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/maps/map_helpers.h"
#include "selfdrive/ui/qt/maps/map.h"
@ -52,6 +51,12 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
}
connect(routing_manager, SIGNAL(finished(QGeoRouteReply*)), this, SLOT(routeCalculated(QGeoRouteReply*)));
auto last_gps_position = coordinate_from_param("LastGPSPosition");
if (last_gps_position) {
last_position = *last_gps_position;
}
grabGesture(Qt::GestureType::PinchGesture);
}
@ -99,29 +104,68 @@ void MapWindow::initLayers() {
}
void MapWindow::timerUpdate() {
if (!isVisible()) return;
initLayers();
sm->update(0);
if (sm->updated("liveLocationKalman")) {
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
gps_ok = location.getGpsOK();
// Update map location, orientation and zoom on valid localizer output
if (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) {
auto pos = location.getPositionGeodetic();
float velocity = location.getVelocityCalibrated().getValue()[0];
auto orientation = location.getOrientationNED();
auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
last_position = coordinate;
float velocity = location.getVelocityCalibrated().getValue()[0];
if (pan_counter == 0){
m_map->setCoordinate(coordinate);
m_map->setBearing(RAD2DEG(orientation.getValue()[2]));
} else {
pan_counter--;
}
if (zoom_counter == 0){
static FirstOrderFilter velocity_filter(velocity, 10, 0.1);
m_map->setZoom(util::map_val<float>(velocity_filter.update(velocity), 0, 30, MAX_ZOOM, MIN_ZOOM));
} else {
zoom_counter--;
}
auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
// Update current location marker
auto point = coordinate_to_collection(coordinate);
QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
QVariantMap carPosSource;
carPosSource["type"] = "geojson";
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
m_map->updateSource("carPosSource", carPosSource);
if (location.getStatus() == cereal::LiveLocationKalman::Status::VALID){
last_position = coordinate;
gps_ok = location.getGpsOK();
// Update model path
if (DRAW_MODEL_PATH) {
auto model = (*sm)["modelV2"].getModelV2();
auto path_points = model_to_collection(location.getCalibratedOrientationECEF(), location.getPositionECEF(), model.getPosition());
QMapbox::Feature feature2(QMapbox::Feature::LineStringType, path_points, {}, {});
QVariantMap modelPathSource;
modelPathSource["type"] = "geojson";
modelPathSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature2);
m_map->updateSource("modelPathSource", modelPathSource);
}
}
if (sm->frame % 10 == 0 && shouldRecompute()){
// Recompute route if needed
if (sm->frame % 10 == 0) {
if (recompute_countdown == 0 && shouldRecompute()) {
recompute_countdown = std::pow(2, recompute_backoff);
recompute_backoff = std::min(7, recompute_backoff + 1);
calculateRoute(nav_destination);
} else {
recompute_countdown = std::max(0, recompute_countdown - 1);
}
}
// Show route instructions
if (segment.isValid()) {
auto cur_maneuver = segment.maneuver();
auto attrs = cur_maneuver.extendedAttributes();
@ -144,48 +188,30 @@ void MapWindow::timerUpdate() {
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;
recompute_backoff = std::max(0, recompute_backoff - 1);
recompute_countdown = 0;
}
last_maneuver_distance = next_maneuver_distance;
}
} else {
Params().remove("NavDestination");
// Clear route if driving away from destination
float d = segment.maneuver().position().distanceTo(to_QGeoCoordinate(last_position));
if (d > REROUTE_DISTANCE) {
clearRoute();
}
}
if (pan_counter == 0){
m_map->setCoordinate(coordinate);
m_map->setBearing(RAD2DEG(orientation.getValue()[2]));
} else {
pan_counter--;
}
if (zoom_counter == 0){
m_map->setZoom(util::map_val<float>(velocity_filter.update(velocity), 0, 30, MAX_ZOOM, MIN_ZOOM));
} else {
zoom_counter--;
}
// Update current location marker
auto point = coordinate_to_collection(coordinate);
QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
QVariantMap carPosSource;
carPosSource["type"] = "geojson";
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
m_map->updateSource("carPosSource", carPosSource);
// Update model path
if (DRAW_MODEL_PATH) {
auto model = (*sm)["modelV2"].getModelV2();
auto path_points = model_to_collection(location.getCalibratedOrientationECEF(), location.getPositionECEF(), model.getPosition());
QMapbox::Feature feature2(QMapbox::Feature::LineStringType, path_points, {}, {});
QVariantMap modelPathSource;
modelPathSource["type"] = "geojson";
modelPathSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature2);
m_map->updateSource("modelPathSource", modelPathSource);
}
}
update();
}
if (!segment.isValid()){
map_instructions->setVisible(false);
}
@ -210,6 +236,8 @@ void MapWindow::initializeGL() {
}
void MapWindow::paintGL() {
if (!isVisible()) return;
m_map->resize(size() / MAP_SCALE);
m_map->setFramebufferObject(defaultFramebufferObject(), size());
m_map->render();
@ -218,6 +246,7 @@ void MapWindow::paintGL() {
void MapWindow::calculateRoute(QMapbox::Coordinate destination) {
QGeoRouteRequest request(to_QGeoCoordinate(last_position), to_QGeoCoordinate(destination));
request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
routing_manager->calculateRoute(request);
}
@ -233,30 +262,33 @@ void MapWindow::routeCalculated(QGeoRouteReply *reply) {
navSource["type"] = "geojson";
navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
m_map->updateSource("navSource", navSource);
has_route = true;
m_map->setLayoutProperty("navLayer", "visibility", "visible");
}
reply->deleteLater();
}
void MapWindow::clearRoute() {
segment = QGeoRouteSegment(); // Clear route
m_map->setLayoutProperty("navLayer", "visibility", "none");
m_map->setPitch(MIN_PITCH);
}
bool MapWindow::shouldRecompute(){
if (!gps_ok) return false; // Don't recompute when gps drifts in tunnels
QString nav_destination_json = QString::fromStdString(Params().get("NavDestination"));
if (nav_destination_json.isEmpty()) return false;
bool MapWindow::shouldRecompute(){
auto new_destination = coordinate_from_param("NavDestination");
if (!new_destination) {
clearRoute();
return false;
}
QJsonDocument doc = QJsonDocument::fromJson(nav_destination_json.toUtf8());
if (doc.isNull()) return false;
if (!gps_ok && segment.isValid()) return false; // Don't recompute when gps drifts in tunnels
QJsonObject json = doc.object();
if (json["latitude"].isDouble() && json["longitude"].isDouble()){
QMapbox::Coordinate new_destination(json["latitude"].toDouble(), json["longitude"].toDouble());
if (new_destination != nav_destination){
nav_destination = new_destination;
if (*new_destination != nav_destination){
nav_destination = *new_destination;
setVisible(true); // Show map on destination set/change
return true;
}
}
if (!segment.isValid()){
return true;
@ -385,16 +417,27 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent){
void MapInstructions::updateDistance(float d){
QString distance_str;
if (QUIState::ui_state.scene.is_metric) {
if (d > 500) {
distance_str.setNum(d / 1000, 'f', 1);
distance_str += " km";
} else {
distance_str.setNum(50 * int(d / 50));
distance_str += " m";
}
} else {
float miles = d * METER_2_MILE;
float feet = d * METER_2_FOOT;
if (feet > 500){
if (feet > 500) {
distance_str.setNum(miles, 'f', 1);
distance_str += " miles";
} else {
distance_str.setNum(50 * int(feet / 50));
distance_str += " feet";
}
}
distance->setText(distance_str);
}

6
selfdrive/ui/qt/maps/map.h
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@ -58,7 +58,6 @@ private:
// Route
bool gps_ok = false;
bool has_route = false;
QGeoServiceProvider *geoservice_provider;
QGeoRoutingManager *routing_manager;
QGeoRoute route;
@ -67,7 +66,12 @@ private:
QMapbox::Coordinate last_position = QMapbox::Coordinate(37.7393118509158, -122.46471285025565);
QMapbox::Coordinate nav_destination;
double last_maneuver_distance = 1000;
// Route recompute
int recompute_backoff = 0;
int recompute_countdown = 0;
void calculateRoute(QMapbox::Coordinate destination);
void clearRoute();
bool shouldRecompute();
private slots:

20
selfdrive/ui/qt/maps/map_helpers.cc
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@ -1,4 +1,8 @@
#include <QJsonDocument>
#include <QJsonObject>
#include "selfdrive/ui/qt/maps/map_helpers.h"
#include "selfdrive/common/params.h"
QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) {
@ -84,3 +88,19 @@ float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p) {
const QGeoCoordinate projection = add(a, mul(ab, t));
return projection.distanceTo(p);
}
std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
QString json_str = QString::fromStdString(Params().get(param));
if (json_str.isEmpty()) return {};
QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8());
if (doc.isNull()) return {};
QJsonObject json = doc.object();
if (json["latitude"].isDouble() && json["longitude"].isDouble()){
QMapbox::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
return coord;
} else {
return {};
}
}

2
selfdrive/ui/qt/maps/map_helpers.h
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@ -1,5 +1,6 @@
#pragma once
#include <optional>
#include <eigen3/Eigen/Dense>
#include <QMapboxGL>
#include <QGeoCoordinate>
@ -21,3 +22,4 @@ QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);

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