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Nav: No GPS warning (#21359)

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* Nav: No GPS warning

* optional
pull/21365/head
Willem Melching 4 years ago committed by GitHub
parent dd959412e3
commit e4e67985d6
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 83 additions and 51 deletions
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  1. 130
      selfdrive/ui/qt/maps/map.cc
  2. 4
      selfdrive/ui/qt/maps/map.h

130
selfdrive/ui/qt/maps/map.cc
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@ -39,6 +39,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
map_instructions = new MapInstructions(this);
connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance);
connect(this, &MapWindow::GPSValidChanged, map_instructions, &MapInstructions::updateGPSValid);
map_instructions->setFixedWidth(width());
map_eta = new MapETA(this);
@ -121,8 +122,10 @@ void MapWindow::timerUpdate() {
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) {
bool localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
emit GPSValidChanged(localizer_valid);
if (localizer_valid) {
auto pos = location.getPositionGeodetic();
auto orientation = location.getOrientationNED();
@ -165,61 +168,59 @@ void MapWindow::timerUpdate() {
modelPathSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature2);
m_map->updateSource("modelPathSource", modelPathSource);
}
}
// Show route instructions
if (segment.isValid()) {
auto cur_maneuver = segment.maneuver();
auto attrs = cur_maneuver.extendedAttributes();
if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(last_position));
float distance = std::max(0.0f, float(segment.distance()) - along_geometry);
emit distanceChanged(distance);
m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
auto banner = attrs["mapbox.banner_instructions"].toList();
if (banner.size()) {
map_instructions->setVisible(true);
auto banner_0 = banner[0].toMap();
float show_at = banner_0["distance_along_geometry"].toDouble();
emit instructionsChanged(banner_0, distance < show_at);
if (segment.isValid()) {
// Show route instructions
auto cur_maneuver = segment.maneuver();
auto attrs = cur_maneuver.extendedAttributes();
if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position));
float distance = std::max(0.0f, float(segment.distance()) - along_geometry);
emit distanceChanged(distance);
m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
auto banner = attrs["mapbox.banner_instructions"].toList();
if (banner.size()) {
auto banner_0 = banner[0].toMap();
float show_at = banner_0["distance_along_geometry"].toDouble();
emit instructionsChanged(banner_0, distance < show_at);
}
}
}
auto next_segment = segment.nextRouteSegment();
if (next_segment.isValid()) {
auto next_maneuver = next_segment.maneuver();
if (next_maneuver.isValid()) {
float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(last_position));
// 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;
// Handle transition to next route segment
auto next_segment = segment.nextRouteSegment();
if (next_segment.isValid()) {
auto next_maneuver = next_segment.maneuver();
if (next_maneuver.isValid()) {
float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(*last_position));
// 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 {
// Destination reached
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();
}
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();
}
map_instructions->setVisible(false);
}
}
}
update();
if (!segment.isValid()) {
map_instructions->setVisible(false);
}
}
@ -230,7 +231,12 @@ void MapWindow::resizeGL(int w, int h) {
void MapWindow::initializeGL() {
m_map.reset(new QMapboxGL(nullptr, m_settings, size(), 1));
m_map->setCoordinateZoom(last_position, MAX_ZOOM);
if (last_position) {
m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
} else {
m_map->setCoordinateZoom(QMapbox::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
}
m_map->setMargins({0, 350, 0, 50});
m_map->setPitch(MIN_PITCH);
m_map->setStyleUrl("mapbox://styles/pd0wm/cknuhcgvr0vs817o1akcx6pek"); // Larger fonts
@ -255,6 +261,11 @@ static float get_time_typical(const QGeoRouteSegment &segment) {
void MapWindow::recomputeRoute() {
// Last position is valid if read from param or from GPS
if (!last_position) {
return;
}
bool should_recompute = shouldRecompute();
auto new_destination = coordinate_from_param("NavDestination");
@ -286,7 +297,7 @@ void MapWindow::recomputeRoute() {
void MapWindow::updateETA() {
if (segment.isValid()) {
float progress = distance_along_geometry(segment.path(), to_QGeoCoordinate(last_position)) / segment.distance();
float progress = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position)) / segment.distance();
float total_distance = segment.distance() * (1.0 - progress);
float total_time = segment.travelTime() * (1.0 - progress);
float total_time_typical = get_time_typical(segment) * (1.0 - progress);
@ -307,7 +318,7 @@ void MapWindow::updateETA() {
void MapWindow::calculateRoute(QMapbox::Coordinate destination) {
LOGW("calculating route");
nav_destination = destination;
QGeoRouteRequest request(to_QGeoCoordinate(last_position), to_QGeoCoordinate(destination));
QGeoRouteRequest request(to_QGeoCoordinate(*last_position), to_QGeoCoordinate(destination));
request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
if (last_bearing) {
@ -362,7 +373,7 @@ bool MapWindow::shouldRecompute() {
// Compute closest distance to all line segments in the current path
float min_d = REROUTE_DISTANCE + 1;
auto path = segment.path();
auto cur = to_QGeoCoordinate(last_position);
auto cur = to_QGeoCoordinate(*last_position);
for (size_t i = 0; i < path.size() - 1; i++) {
auto a = path[i];
auto b = path[i+1];
@ -512,9 +523,24 @@ void MapInstructions::updateDistance(float d) {
}
}
distance->setAlignment(Qt::AlignLeft);
distance->setText(distance_str);
}
void MapInstructions::updateGPSValid(bool valid) {
if (!valid) {
primary->setText("");
distance->setText("GPS not available");
distance->setAlignment(Qt::AlignCenter);
secondary->setVisible(false);
icon_01->setVisible(false);
setVisible(true);
adjustSize();
}
}
void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool full) {
// Need multiple calls to adjustSize for it to properly resize
// seems like it takes a little bit of time for the images to change and
@ -539,6 +565,7 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
QPixmap pix(fn);
icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
icon_01->setVisible(true);
}
// Parse components (e.g. lanes, exit number)
@ -601,8 +628,11 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
primary->setText(primary_str);
secondary->setVisible(secondary_str.length() > 0);
secondary->setText(secondary_str);
adjustSize();
last_banner = banner;
setVisible(true);
adjustSize();
}
MapETA::MapETA(QWidget * parent) : QWidget(parent) {

4
selfdrive/ui/qt/maps/map.h
Unescape View File

@ -43,6 +43,7 @@ public:
public slots:
void updateDistance(float d);
void updateInstructions(QMap<QString, QVariant> banner, bool full);
void updateGPSValid(bool valid);
};
class MapETA : public QWidget {
@ -97,7 +98,7 @@ private:
int zoom_counter = 0;
// Position
QMapbox::Coordinate last_position = QMapbox::Coordinate(37.7393118509158, -122.46471285025565);
std::optional<QMapbox::Coordinate> last_position;
std::optional<float> last_bearing;
// Route
@ -134,5 +135,6 @@ signals:
void distanceChanged(float distance);
void instructionsChanged(QMap<QString, QVariant> banner, bool full);
void ETAChanged(float seconds, float seconds_typical, float distance);
void GPSValidChanged(bool valid);
};

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