Nav: No GPS warning (#21359)

* Nav: No GPS warning

* optional

selfdrive/ui/qt/maps/map.cc

@@ -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
+    bool localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
-    if (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 (segment.isValid()) {
-        if (banner.size()) {
+        // Show route instructions
-          map_instructions->setVisible(true);
+        auto cur_maneuver = segment.maneuver();
-
+        auto attrs = cur_maneuver.extendedAttributes();
-          auto banner_0 = banner[0].toMap();
+        if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
-          float show_at = banner_0["distance_along_geometry"].toDouble();
+          float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position));
-          emit instructionsChanged(banner_0, distance < show_at);
+          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();
+        // Handle transition to next route segment
-      if (next_segment.isValid()) {
+        auto next_segment = segment.nextRouteSegment();
-        auto next_maneuver = next_segment.maneuver();
+        if (next_segment.isValid()) {
-        if (next_maneuver.isValid()) {
+          auto next_maneuver = next_segment.maneuver();
-          float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(last_position));
+          if (next_maneuver.isValid()) {
-          // Switch to next route segment
+            float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(*last_position));
-          if (next_maneuver_distance < REROUTE_DISTANCE && next_maneuver_distance > last_maneuver_distance) {
+            // Switch to next route segment
-            segment = next_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;
+              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");
+        map_instructions->setVisible(false);
-
-        // Clear route if driving away from destination
-        float d = segment.maneuver().position().distanceTo(to_QGeoCoordinate(last_position));
-        if (d > REROUTE_DISTANCE) {
-          clearRoute();
-        }
       }
     }
-
   }
 
   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) {

selfdrive/ui/qt/maps/map.h

@@ -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);
 };