From a7bc8d40b03f9d30dab6b6c7a37fab4bc621005a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Jul 2023 01:10:51 -0700 Subject: [PATCH] fix empty banner instructions when arriving at destination --- selfdrive/navd/navd.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 7af911ab2a..213f4ee282 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -218,9 +218,12 @@ class RouteEngine: along_geometry = distance_along_geometry(geometry, self.last_position) distance_to_maneuver_along_geometry = step['distance'] - along_geometry + # Banner instructions are for the following step, don't use empty last step + banner_instructions = self.route[max(min(self.step_idx, len(self.route) - 2), 0))] + # Current instruction msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry - parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry) + parse_banner_instructions(msg.navInstruction, banner_instructions, distance_to_maneuver_along_geometry) # Compute total remaining time and distance remaining = 1.0 - along_geometry / max(step['distance'], 1)