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draw map with same uiUpdate signal as onroad window

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pull/24632/head
Shane Smiskol 3 years ago
parent 522b67f16d
commit 8efa1c0589
5 changed files with 78 additions and 29 deletions
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  1. 3
      selfdrive/ui/navd/map_renderer.cc
  2. 92
      selfdrive/ui/qt/maps/map.cc
  3. 6
      selfdrive/ui/qt/maps/map.h
  4. 4
      selfdrive/ui/qt/onroad.cc
  5. 2
      selfdrive/ui/ui.cc

3
selfdrive/ui/navd/map_renderer.cc
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@ -39,6 +39,7 @@ 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());
@ -55,6 +56,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool enable_vipc) :
}
void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
qDebug() << "updatePosition()";
if (m_map.isNull()) {
return;
}
@ -69,6 +71,7 @@ bool MapRenderer::loaded() {
}
void MapRenderer::update() {
qDebug() << "MapRenderer::update()";
gl_functions->glClear(GL_COLOR_BUFFER_BIT);
m_map->render();
gl_functions->glFlush();

92
selfdrive/ui/qt/maps/map.cc
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@ -26,14 +26,14 @@ const QString ICON_SUFFIX = ".png";
MapWindow::MapWindow(const QMapboxGLSettings &settings) :
m_settings(settings), velocity_filter(0, 10, 0.05) {
sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"});
// Connect now, so any navRoutes sent while the map is initializing are not dropped
sm->update(0);
// // 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);
// timer = new QTimer(this);
// QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
// timer->start(50);
QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
// Instructions
map_instructions = new MapInstructions(this);
@ -105,16 +105,23 @@ void MapWindow::initLayers() {
}
}
void MapWindow::timerUpdate() {
void MapWindow::updateState(const UIState &s) {
if (!uiState()->scene.started) {
return;
}
double t = millis_since_boot();
double e;
update();
sm->update(0);
if (sm->updated("liveLocationKalman")) {
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
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();
auto orientation = location.getCalibratedOrientationNED();
auto velocity = location.getVelocityCalibrated();
@ -129,7 +136,11 @@ void MapWindow::timerUpdate() {
}
}
if (sm->updated("navRoute") && (*sm)["navRoute"].getNavRoute().getCoordinates().size()) {
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;
// Only open the map on setting destination the first time
@ -139,6 +150,10 @@ void MapWindow::timerUpdate() {
}
}
e = millis_since_boot() - t;
qDebug() << "navRoute:" << e << "ms";
t = millis_since_boot();
if (m_map.isNull()) {
return;
}
@ -149,8 +164,16 @@ void MapWindow::timerUpdate() {
return;
}
e = millis_since_boot() - t;
qDebug() << "instructions:" << e << "ms";
t = millis_since_boot();
initLayers();
e = millis_since_boot() - t;
qDebug() << "initLayers:" << e << "ms";
t = millis_since_boot();
if (!localizer_valid) {
map_instructions->showError("Waiting for GPS");
} else {
@ -165,6 +188,10 @@ void MapWindow::timerUpdate() {
m_map->updateSource("carPosSource", carPosSource);
}
e = millis_since_boot() - t;
qDebug() << "location marker:" << 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);
@ -172,15 +199,23 @@ void MapWindow::timerUpdate() {
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--;
}
if (sm->updated("navInstruction")) {
if (sm->valid("navInstruction")) {
auto i = (*sm)["navInstruction"].getNavInstruction();
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();
emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
if (localizer_valid) {
@ -194,9 +229,13 @@ void MapWindow::timerUpdate() {
}
}
if (sm->rcv_frame("navRoute") != route_rcv_frame) {
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();
auto route = sm["navRoute"].getNavRoute();
auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
QVariantMap navSource;
@ -205,8 +244,13 @@ void MapWindow::timerUpdate() {
m_map->updateSource("navSource", navSource);
m_map->setLayoutProperty("navLayer", "visibility", "visible");
route_rcv_frame = sm->rcv_frame("navRoute");
route_rcv_frame = sm.rcv_frame("navRoute");
}
e = millis_since_boot() - t;
qDebug() << "navRoute:" << e << "ms";
t = millis_since_boot();
qDebug() << "\n\n";
}
void MapWindow::resizeGL(int w, int h) {
@ -236,7 +280,10 @@ void MapWindow::initializeGL() {
void MapWindow::paintGL() {
if (!isVisible() || m_map.isNull()) return;
double t = millis_since_boot();
m_map->render();
double e = millis_since_boot() - t;
qDebug() << "MapWindow::paintGL():" << e << "ms";
}
void MapWindow::clearRoute() {
@ -259,7 +306,7 @@ 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();
// update();
pan_counter = 0;
zoom_counter = 0;
@ -271,7 +318,7 @@ void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
if (!delta.isNull()) {
pan_counter = PAN_TIMEOUT;
m_map->moveBy(delta / MAP_SCALE);
update();
// update();
}
m_lastPos = ev->localPos();
@ -289,7 +336,7 @@ void MapWindow::wheelEvent(QWheelEvent *ev) {
}
m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
update();
// update();
zoom_counter = PAN_TIMEOUT;
ev->accept();
@ -315,7 +362,7 @@ 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();
// update();
zoom_counter = PAN_TIMEOUT;
}
}
@ -630,6 +677,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
show();
adjustSize();
qDebug() << "repaint()";
repaint();
adjustSize();

6
selfdrive/ui/qt/maps/map.h
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@ -21,6 +21,7 @@
#include "common/params.h"
#include "common/util.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/ui/ui.h"
class MapInstructions : public QWidget {
Q_OBJECT
@ -91,8 +92,7 @@ private:
void pinchTriggered(QPinchGesture *gesture);
bool m_sourceAdded = false;
SubMaster *sm;
QTimer* timer;
// QTimer* timer;
bool loaded_once = false;
bool allow_open = true;
@ -115,7 +115,7 @@ private:
uint64_t route_rcv_frame = 0;
private slots:
void timerUpdate();
void updateState(const UIState &s);
public slots:
void offroadTransition(bool offroad);

4
selfdrive/ui/qt/onroad.cc
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@ -71,9 +71,8 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
}
void OnroadWindow::offroadTransition(bool offroad) {
#ifdef ENABLE_MAPS
if (!offroad) {
if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
if (map == nullptr && !MAPBOX_TOKEN.isEmpty()) {
MapWindow * m = new MapWindow(get_mapbox_settings());
map = m;
@ -86,7 +85,6 @@ void OnroadWindow::offroadTransition(bool offroad) {
m->offroadTransition(offroad);
}
}
#endif
alerts->updateAlert({}, bg);

2
selfdrive/ui/ui.cc
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@ -233,7 +233,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
"pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
"wideRoadCameraState", "managerState",
"wideRoadCameraState", "managerState", "navInstruction", "navRoute",
});
Params params;

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