test

SConstruct

@@ -165,7 +165,6 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
-    "-Wunused",
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",

selfdrive/ui/navd/map_renderer.cc

@@ -140,6 +140,7 @@ void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
 }
 
 void MapRenderer::initLayers() {
+  qDebug() << "SHOULDN'T BE HERE";
   if (!m_map->layerExists("navLayer")) {
     QVariantMap nav;
     nav["id"] = "navLayer";

selfdrive/ui/qt/maps/map.cc

@@ -64,6 +64,9 @@ MapWindow::~MapWindow() {
 }
 
 void MapWindow::initLayers() {
+  if (layers_initialized) return;
+//  if (!gl_initialized) return;
+  layers_initialized = true;
   // This doesn't work from initializeGL
   if (!m_map->layerExists("modelPathLayer")) {
     qDebug() << "Initializing modelPathLayer";
@@ -102,6 +105,7 @@ void MapWindow::initLayers() {
     m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
     m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
+//    if (m_map->layerExists("carPosLayer")) car_layer_initialized = true;
   }
 }
 
@@ -109,17 +113,17 @@ void MapWindow::updateState(const UIState &s) {
   if (!uiState()->scene.started) {
     return;
   }
-  double t = millis_since_boot();
+//  double t = millis_since_boot();
-  double e;
+//  double e;
 
-  update();
+//  update();
-  qDebug() << "updateState()";
+//  qDebug() << "updateState()";
   const SubMaster &sm = *(s.sm);
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "update():" << e << "ms";
+//  qDebug() << "update():" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
-//  sm.update(0);
+////  sm.update(0);
   if (sm.updated("liveLocationKalman")) {
     auto location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto pos = location.getPositionGeodetic();
@@ -135,11 +139,11 @@ void MapWindow::updateState(const UIState &s) {
       velocity_filter.update(velocity.getValue()[0]);
     }
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "liveLocationKalman:" << e << "ms";
+//  qDebug() << "liveLocationKalman:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
   if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
     qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
 
@@ -149,31 +153,39 @@ void MapWindow::updateState(const UIState &s) {
       allow_open = false;
     }
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "navRoute:" << e << "ms";
+//  qDebug() << "navRoute:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
   if (m_map.isNull()) {
     return;
   }
-
+//
-  loaded_once = loaded_once || m_map->isFullyLoaded();
+//  loaded_once = loaded_once || m_map->isFullyLoaded();
-  if (!loaded_once) {
+//  if (!loaded_once) {
-    map_instructions->showError("Map Loading");
+//    map_instructions->showError("Map Loading");
-    return;
+//    return;
-  }
+//  }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "instructions:" << e << "ms";
+//  qDebug() << "instructions:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
-  initLayers();
+  if (gl_initialized) {
-
+    qDebug() << "About to initialize layers";
-  e = millis_since_boot() - t;
+    initLayers();
-  qDebug() << "initLayers:" << e << "ms";
+    QVector<QString> layers = m_map->layerIds();
-  t = millis_since_boot();
+    qDebug() << "layer size:" << layers.size();
-
+//    for (auto layer_id : layers) {
+//      qDebug() << layer_id;
+//    }
+  }
+//
+//  e = millis_since_boot() - t;
+//  qDebug() << "initLayers:" << e << "ms";
+//  t = millis_since_boot();
+//
   if (!localizer_valid) {
     map_instructions->showError("Waiting for GPS");
   } else {
@@ -187,32 +199,37 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "location marker:" << e << "ms";
+//  qDebug() << "location marker:" << an_counter == 0) {
-  t = millis_since_boot();
+//    if (last_position) m_map->setCoordinate(*last_position);
-
+//    if (last_bearing) m_map->setBearing(*last_bearing);
+//  } else {
+//    pan_counter--;
+//  }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);
   } else {
     pan_counter--;
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "pan counter:" << e << "ms";
+//  qDebug() << "pan counter:" << e << "ms";
-  t = millis_since_boot();
+//  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--;
   }
 
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "zoom counter:" << e << "ms";
+//  qDebug() << "zoom counter:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
   if (sm.updated("navInstruction")) {
     if (sm.valid("navInstruction")) {
       auto i = sm["navInstruction"].getNavInstruction();
@@ -228,11 +245,11 @@ void MapWindow::updateState(const UIState &s) {
       clearRoute();
     }
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "navInstruction:" << e << "ms";
+//  qDebug() << "navInstruction:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-
+//
   if (sm.rcv_frame("navRoute") != route_rcv_frame) {
     qWarning() << "Updating navLayer with new route";
     auto route = sm["navRoute"].getNavRoute();
@@ -246,19 +263,22 @@ void MapWindow::updateState(const UIState &s) {
 
     route_rcv_frame = sm.rcv_frame("navRoute");
   }
-
+//
-  e = millis_since_boot() - t;
+//  e = millis_since_boot() - t;
-  qDebug() << "navRoute:" << e << "ms";
+//  qDebug() << "navRoute:" << e << "ms";
-  t = millis_since_boot();
+//  t = millis_since_boot();
-  qDebug() << "\n\n";
+//  qDebug() << "\n\n";
+  update();
 }
 
 void MapWindow::resizeGL(int w, int h) {
+  qDebug() << "resizeGL";
   m_map->resize(size() / MAP_SCALE);
   map_instructions->setFixedWidth(width());
 }
 
 void MapWindow::initializeGL() {
+  qDebug() << "initializeGL";
   m_map.reset(new QMapboxGL(this, m_settings, size(), 1));
 
   if (last_position) {
@@ -276,11 +296,12 @@ void MapWindow::initializeGL() {
       loaded_once = true;
     }
   });
+  gl_initialized = true;
 }
 
 void MapWindow::paintGL() {
-  if (!isVisible() || m_map.isNull()) return;
   double t = millis_since_boot();
+  if (!isVisible() || m_map.isNull()) return;
   m_map->render();
   double e = millis_since_boot() - t;
   qDebug() << "MapWindow::paintGL():" << e << "ms";
@@ -313,12 +334,15 @@ void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
 }
 
 void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
+  double t = millis_since_boot();
   QPointF delta = ev->localPos() - m_lastPos;
 
   if (!delta.isNull()) {
     pan_counter = PAN_TIMEOUT;
     m_map->moveBy(delta / MAP_SCALE);
-//    update();
+    update();
+    double e = millis_since_boot() - t;
+    qDebug() << "MapWindow::mouseMoveEvent():" << e << "ms";
   }
 
   m_lastPos = ev->localPos();
@@ -429,6 +453,7 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
 }
 
 void MapInstructions::updateDistance(float d) {
+  qDebug() << "updateDistance";
   d = std::max(d, 0.0f);
   QString distance_str;
 
@@ -627,6 +652,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
     hide();
     return;
   }
+  qDebug() << "updateETA";
 
   // ETA
   auto eta_time = QDateTime::currentDateTime().addSecs(s).time();

selfdrive/ui/qt/maps/map.h

@@ -80,6 +80,9 @@ private:
 
   QMapboxGLSettings m_settings;
   QScopedPointer<QMapboxGL> m_map;
+  bool car_layer_initialized = false;
+  bool layers_initialized = false;
+  bool gl_initialized = false;
 
   void initLayers();