Move navigation into separate daemon (#22767)
* Add navd folder * prints route instructions to console * broadcast NavInstuction without lanes * show basic instructions and eta * parse out lane info * use swaglog * clip distance on ui side * draw lane directions * show route * add to process config * add to release files * small cleanup * show route without gps * pop open map on initial route * fix error messages around no gps * done * make persistent process * handle end of route * clear route on offroad * only one timer * fix layout hacks * explicit rendering at 20Hzpull/22793/head
Willem Melching
GitHub
parent
b7394c6171
commit
bef686f275
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@ -23,3 +23,9 @@ selfdrive/ui/qt/spinner_larch64
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selfdrive/ui/qt/text_larch64
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selfdrive/ui/qt/maps/*.cc
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selfdrive/ui/qt/maps/*.h
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selfdrive/ui/navd/*.cc
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selfdrive/ui/navd/*.h
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selfdrive/ui/navd/navd
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selfdrive/ui/navd/.gitignore
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@ -14,6 +14,7 @@ procs = [
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NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
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NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"]),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
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NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], enabled=(PC or TICI), persistent=True),
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NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
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NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
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NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
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@ -122,3 +122,8 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
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if GetOption('test'):
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qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
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# navd
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if maps:
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navd_src = ["navd/main.cc", "navd/route_engine.cc"]
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qt_env.Program("navd/_navd", navd_src, LIBS=qt_libs + ['common', 'json11'])
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@ -0,0 +1 @@
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_navd
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@ -0,0 +1,36 @@
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#include <QApplication>
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#include <QCommandLineParser>
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#include <QDebug>
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#include <QThread>
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#include <csignal>
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#include "selfdrive/ui/qt/util.h"
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#include "selfdrive/ui/navd/route_engine.h"
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RouteEngine* route_engine = nullptr;
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void sigHandler(int s) {
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qInfo() << "Shutting down";
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std::signal(s, SIG_DFL);
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qApp->quit();
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}
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int main(int argc, char *argv[]) {
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qInstallMessageHandler(swagLogMessageHandler);
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QApplication app(argc, argv);
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std::signal(SIGINT, sigHandler);
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std::signal(SIGTERM, sigHandler);
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QCommandLineParser parser;
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parser.setApplicationDescription("Navigation server. Runs stand-alone, or using pre-computer route");
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parser.addHelpOption();
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parser.process(app);
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const QStringList args = parser.positionalArguments();
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route_engine = new RouteEngine();
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return app.exec();
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}
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@ -0,0 +1,4 @@
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#!/bin/sh
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cd "$(dirname "$0")"
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export QT_PLUGIN_PATH="../../../third_party/qt-plugins/$(uname -m)"
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exec ./_navd
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@ -0,0 +1,323 @@
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#include "selfdrive/ui/navd/route_engine.h"
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#include <QDebug>
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#include "selfdrive/ui/qt/maps/map.h"
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#include "selfdrive/ui/qt/maps/map_helpers.h"
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#include "selfdrive/ui/qt/api.h"
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#include "selfdrive/common/params.h"
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const qreal REROUTE_DISTANCE = 25;
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const float MANEUVER_TRANSITION_THRESHOLD = 10;
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static float get_time_typical(const QGeoRouteSegment &segment) {
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auto maneuver = segment.maneuver();
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auto attrs = maneuver.extendedAttributes();
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return attrs.contains("mapbox.duration_typical") ? attrs["mapbox.duration_typical"].toDouble() : segment.travelTime();
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}
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static cereal::NavInstruction::Direction string_to_direction(QString d) {
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if (d.contains("left")) {
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return cereal::NavInstruction::Direction::LEFT;
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} else if (d.contains("right")) {
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return cereal::NavInstruction::Direction::RIGHT;
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} else if (d.contains("straight")) {
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return cereal::NavInstruction::Direction::STRAIGHT;
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}
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return cereal::NavInstruction::Direction::NONE;
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}
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static void parse_banner(cereal::NavInstruction::Builder &instruction, const QMap<QString, QVariant> &banner, bool full) {
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QString primary_str, secondary_str;
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auto p = banner["primary"].toMap();
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primary_str += p["text"].toString();
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instruction.setShowFull(full);
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if (p.contains("type")) {
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instruction.setManeuverType(p["type"].toString().toStdString());
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}
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if (p.contains("modifier")) {
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instruction.setManeuverModifier(p["modifier"].toString().toStdString());
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}
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if (banner.contains("secondary")) {
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auto s = banner["secondary"].toMap();
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secondary_str += s["text"].toString();
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}
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instruction.setManeuverPrimaryText(primary_str.toStdString());
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instruction.setManeuverSecondaryText(secondary_str.toStdString());
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if (banner.contains("sub")) {
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auto s = banner["sub"].toMap();
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auto components = s["components"].toList();
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size_t num_lanes = 0;
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for (auto &c : components) {
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auto cc = c.toMap();
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if (cc["type"].toString() == "lane") {
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num_lanes += 1;
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}
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}
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auto lanes = instruction.initLanes(num_lanes);
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size_t i = 0;
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for (auto &c : components) {
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auto cc = c.toMap();
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if (cc["type"].toString() == "lane") {
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auto lane = lanes[i];
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lane.setActive(cc["active"].toBool());
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if (cc.contains("active_direction")) {
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lane.setActiveDirection(string_to_direction(cc["active_direction"].toString()));
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}
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auto directions = lane.initDirections(cc["directions"].toList().size());
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size_t j = 0;
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for (auto &dir : cc["directions"].toList()) {
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directions.set(j, string_to_direction(dir.toString()));
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j++;
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}
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i++;
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}
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}
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}
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}
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RouteEngine::RouteEngine() {
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sm = new SubMaster({"liveLocationKalman"});
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pm = new PubMaster({"navInstruction", "navRoute"});
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// Timers
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timer = new QTimer(this);
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QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
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timer->start(1000);
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// Build routing engine
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QVariantMap parameters;
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QString token = MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
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parameters["mapbox.access_token"] = token;
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parameters["mapbox.directions_api_url"] = MAPS_HOST + "/directions/v5/mapbox/";
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geoservice_provider = new QGeoServiceProvider("mapbox", parameters);
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routing_manager = geoservice_provider->routingManager();
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if (routing_manager == nullptr) {
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qWarning() << geoservice_provider->errorString();
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assert(routing_manager);
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}
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QObject::connect(routing_manager, &QGeoRoutingManager::finished, this, &RouteEngine::routeCalculated);
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// Get last gps position from params
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auto last_gps_position = coordinate_from_param("LastGPSPosition");
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if (last_gps_position) {
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last_position = *last_gps_position;
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}
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}
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void RouteEngine::timerUpdate() {
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sm->update(0);
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if (!sm->updated("liveLocationKalman")) {
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return;
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}
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auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
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gps_ok = location.getGpsOK();
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localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
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if (localizer_valid) {
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auto pos = location.getPositionGeodetic();
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auto orientation = location.getCalibratedOrientationNED();
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last_bearing = RAD2DEG(orientation.getValue()[2]);
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last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
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}
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recomputeRoute();
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MessageBuilder msg;
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cereal::Event::Builder evt = msg.initEvent(segment.isValid());
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cereal::NavInstruction::Builder instruction = evt.initNavInstruction();
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// Show route instructions
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if (segment.isValid()) {
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auto cur_maneuver = segment.maneuver();
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auto attrs = cur_maneuver.extendedAttributes();
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if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
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float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position));
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float distance_to_maneuver_along_geometry = segment.distance() - along_geometry;
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auto banners = attrs["mapbox.banner_instructions"].toList();
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if (banners.size()) {
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auto banner = banners[0].toMap();
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for (auto &b : banners) {
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auto bb = b.toMap();
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if (distance_to_maneuver_along_geometry < bb["distance_along_geometry"].toDouble()) {
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banner = bb;
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}
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}
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instruction.setManeuverDistance(distance_to_maneuver_along_geometry);
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parse_banner(instruction, banner, distance_to_maneuver_along_geometry < banner["distance_along_geometry"].toDouble());
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// ETA
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float progress = distance_along_geometry(segment.path(), to_QGeoCoordinate(*last_position)) / segment.distance();
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float total_distance = segment.distance() * (1.0 - progress);
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float total_time = segment.travelTime() * (1.0 - progress);
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float total_time_typical = get_time_typical(segment) * (1.0 - progress);
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auto s = segment.nextRouteSegment();
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while (s.isValid()) {
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total_distance += s.distance();
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total_time += s.travelTime();
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total_time_typical += get_time_typical(s);
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s = s.nextRouteSegment();
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}
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instruction.setTimeRemaining(total_time);
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instruction.setTimeRemainingTypical(total_time_typical);
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instruction.setDistanceRemaining(total_distance);
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}
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// Transition to next route segment
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if (distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD) {
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auto next_segment = segment.nextRouteSegment();
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if (next_segment.isValid()) {
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segment = next_segment;
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recompute_backoff = std::max(0, recompute_backoff - 1);
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recompute_countdown = 0;
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} else {
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qWarning() << "Destination reached";
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Params().remove("NavDestination");
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// Clear route if driving away from destination
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float d = segment.maneuver().position().distanceTo(to_QGeoCoordinate(*last_position));
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if (d > REROUTE_DISTANCE) {
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clearRoute();
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}
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}
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}
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}
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}
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pm->send("navInstruction", msg);
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}
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void RouteEngine::clearRoute() {
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segment = QGeoRouteSegment();
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nav_destination = QMapbox::Coordinate();
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}
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bool RouteEngine::shouldRecompute() {
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if (!segment.isValid()) {
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return true;
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}
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// Don't recompute in last segment, assume destination is reached
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if (!segment.nextRouteSegment().isValid()) {
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return false;
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}
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// Compute closest distance to all line segments in the current path
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float min_d = REROUTE_DISTANCE + 1;
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auto path = segment.path();
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auto cur = to_QGeoCoordinate(*last_position);
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for (size_t i = 0; i < path.size() - 1; i++) {
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auto a = path[i];
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auto b = path[i+1];
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if (a.distanceTo(b) < 1.0) {
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continue;
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}
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min_d = std::min(min_d, minimum_distance(a, b, cur));
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}
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return min_d > REROUTE_DISTANCE;
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// TODO: Check for going wrong way in segment
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}
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void RouteEngine::recomputeRoute() {
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auto new_destination = coordinate_from_param("NavDestination");
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if (!new_destination) {
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clearRoute();
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return;
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}
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bool should_recompute = shouldRecompute();
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if (*new_destination != nav_destination) {
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qWarning() << "Got new destination from NavDestination param" << *new_destination;
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should_recompute = true;
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}
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if (!gps_ok && segment.isValid()) return; // Don't recompute when gps drifts in tunnels
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if (recompute_countdown == 0 && should_recompute) {
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recompute_countdown = std::pow(2, recompute_backoff);
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recompute_backoff = std::min(7, recompute_backoff + 1);
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calculateRoute(*new_destination);
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} else {
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recompute_countdown = std::max(0, recompute_countdown - 1);
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}
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}
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void RouteEngine::calculateRoute(QMapbox::Coordinate destination) {
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qWarning() << "Calculating route" << *last_position << "->" << destination;
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nav_destination = destination;
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QGeoRouteRequest request(to_QGeoCoordinate(*last_position), to_QGeoCoordinate(destination));
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request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
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if (last_bearing) {
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QVariantMap params;
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int bearing = ((int)(*last_bearing) + 360) % 360;
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params["bearing"] = bearing;
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request.setWaypointsMetadata({params});
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}
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routing_manager->calculateRoute(request);
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}
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void RouteEngine::routeCalculated(QGeoRouteReply *reply) {
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MessageBuilder msg;
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cereal::Event::Builder evt = msg.initEvent();
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cereal::NavRoute::Builder nav_route = evt.initNavRoute();
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if (reply->error() == QGeoRouteReply::NoError) {
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if (reply->routes().size() != 0) {
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qWarning() << "Got route response";
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route = reply->routes().at(0);
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segment = route.firstRouteSegment();
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auto path = route.path();
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auto coordinates = nav_route.initCoordinates(path.size());
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size_t i = 0;
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for (auto const &c : route.path()) {
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coordinates[i].setLatitude(c.latitude());
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coordinates[i].setLongitude(c.longitude());
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i++;
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}
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} else {
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qWarning() << "Got empty route response";
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}
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} else {
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qWarning() << "Got error in route reply" << reply->errorString();
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}
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pm->send("navRoute", msg);
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reply->deleteLater();
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}
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@ -0,0 +1,50 @@
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#pragma once
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#include <QThread>
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#include <QGeoCoordinate>
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#include <QGeoManeuver>
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#include <QGeoRouteRequest>
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#include <QGeoRouteSegment>
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#include <QGeoRoutingManager>
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#include <QGeoServiceProvider>
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#include <QTimer>
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#include <QMapboxGL>
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#include "cereal/messaging/messaging.h"
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class RouteEngine : public QObject {
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Q_OBJECT
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public:
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RouteEngine();
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SubMaster *sm;
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PubMaster *pm;
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QTimer* timer;
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// Route
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bool gps_ok = false;
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QGeoServiceProvider *geoservice_provider;
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QGeoRoutingManager *routing_manager;
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QGeoRoute route;
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QGeoRouteSegment segment;
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QMapbox::Coordinate nav_destination;
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// Position
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std::optional<QMapbox::Coordinate> last_position;
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std::optional<float> last_bearing;
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bool localizer_valid = false;
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// Route recompute
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int recompute_backoff = 0;
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int recompute_countdown = 0;
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void calculateRoute(QMapbox::Coordinate destination);
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void clearRoute();
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bool shouldRecompute();
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private slots:
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void timerUpdate();
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void routeCalculated(QGeoRouteReply *reply);
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void recomputeRoute();
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};
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@ -13,7 +13,6 @@
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const int PAN_TIMEOUT = 100;
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const qreal REROUTE_DISTANCE = 25;
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const float MANEUVER_TRANSITION_THRESHOLD = 10;
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const float MAX_ZOOM = 17;
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@ -22,19 +21,14 @@ const float MAX_PITCH = 50;
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const float MIN_PITCH = 0;
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const float MAP_SCALE = 2;
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MapWindow::MapWindow(const QMapboxGLSettings &settings) :
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m_settings(settings), velocity_filter(0, 10, 0.1) {
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sm = new SubMaster({"liveLocationKalman"});
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sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"});
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timer = new QTimer(this);
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QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
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timer->start(100);
|
||||
|
||||
recompute_timer = new QTimer(this);
|
||||
QObject::connect(recompute_timer, SIGNAL(timeout()), this, SLOT(recomputeRoute()));
|
||||
recompute_timer->start(1000);
|
||||
|
||||
// Instructions
|
||||
map_instructions = new MapInstructions(this);
|
||||
QObject::connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
|
||||
|
|
@ -50,19 +44,6 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) :
|
|||
map_eta->move(25, 1080 - h - bdr_s*2);
|
||||
map_eta->setVisible(false);
|
||||
|
||||
// Routing
|
||||
QVariantMap parameters;
|
||||
parameters["mapbox.access_token"] = m_settings.accessToken();
|
||||
parameters["mapbox.directions_api_url"] = MAPS_HOST + "/directions/v5/mapbox/";
|
||||
|
||||
geoservice_provider = new QGeoServiceProvider("mapbox", parameters);
|
||||
routing_manager = geoservice_provider->routingManager();
|
||||
if (routing_manager == nullptr) {
|
||||
qDebug() << geoservice_provider->errorString();
|
||||
assert(routing_manager);
|
||||
}
|
||||
QObject::connect(routing_manager, &QGeoRoutingManager::finished, this, &MapWindow::routeCalculated);
|
||||
|
||||
auto last_gps_position = coordinate_from_param("LastGPSPosition");
|
||||
if (last_gps_position) {
|
||||
last_position = *last_gps_position;
|
||||
|
|
@ -122,14 +103,15 @@ void MapWindow::timerUpdate() {
|
|||
return;
|
||||
}
|
||||
|
||||
if (isVisible()) {
|
||||
update();
|
||||
update();
|
||||
|
||||
if (m_map.isNull()) {
|
||||
return;
|
||||
}
|
||||
|
||||
sm->update(0);
|
||||
if (sm->updated("liveLocationKalman")) {
|
||||
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
|
||||
gps_ok = location.getGpsOK();
|
||||
|
||||
localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
|
||||
|
||||
|
|
@ -146,11 +128,6 @@ void MapWindow::timerUpdate() {
|
|||
velocity_filter.update(velocity);
|
||||
}
|
||||
}
|
||||
|
||||
if (m_map.isNull()) {
|
||||
return;
|
||||
}
|
||||
|
||||
loaded_once = loaded_once || m_map->isFullyLoaded();
|
||||
if (!loaded_once) {
|
||||
map_instructions->showError("Map Loading");
|
||||
|
|
@ -161,7 +138,16 @@ void MapWindow::timerUpdate() {
|
|||
|
||||
if (!localizer_valid) {
|
||||
map_instructions->showError("Waiting for GPS");
|
||||
return;
|
||||
} else {
|
||||
map_instructions->noError();
|
||||
|
||||
// Update current location marker
|
||||
auto point = coordinate_to_collection(*last_position);
|
||||
QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
|
||||
QVariantMap carPosSource;
|
||||
carPosSource["type"] = "geojson";
|
||||
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
|
||||
m_map->updateSource("carPosSource", carPosSource);
|
||||
}
|
||||
|
||||
if (pan_counter == 0) {
|
||||
|
|
@ -177,61 +163,36 @@ void MapWindow::timerUpdate() {
|
|||
zoom_counter--;
|
||||
}
|
||||
|
||||
// Update current location marker
|
||||
auto point = coordinate_to_collection(*last_position);
|
||||
QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
|
||||
QVariantMap carPosSource;
|
||||
carPosSource["type"] = "geojson";
|
||||
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
|
||||
m_map->updateSource("carPosSource", carPosSource);
|
||||
if (sm->updated("navInstruction")) {
|
||||
if (sm->valid("navInstruction")) {
|
||||
auto i = (*sm)["navInstruction"].getNavInstruction();
|
||||
emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
|
||||
|
||||
// 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_to_maneuver_along_geometry = segment.distance() - along_geometry;
|
||||
emit distanceChanged(std::max(0.0f, distance_to_maneuver_along_geometry));
|
||||
|
||||
m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
|
||||
|
||||
auto banners = attrs["mapbox.banner_instructions"].toList();
|
||||
if (banners.size()) {
|
||||
auto banner = banners[0].toMap();
|
||||
|
||||
for (auto &b : banners) {
|
||||
auto bb = b.toMap();
|
||||
if (distance_to_maneuver_along_geometry < bb["distance_along_geometry"].toDouble()) {
|
||||
banner = bb;
|
||||
}
|
||||
}
|
||||
|
||||
// Show full banner if ready to show, otherwise give summarized version of first banner in segment
|
||||
emit instructionsChanged(banner, distance_to_maneuver_along_geometry < banner["distance_along_geometry"].toDouble());
|
||||
} else {
|
||||
map_instructions->hideIfNoError();
|
||||
if (localizer_valid) {
|
||||
m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
|
||||
emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
|
||||
emit instructionsChanged(i);
|
||||
}
|
||||
} else {
|
||||
m_map->setPitch(MIN_PITCH);
|
||||
clearRoute();
|
||||
}
|
||||
}
|
||||
|
||||
// Transition to next route segment
|
||||
if (!shouldRecompute() && (distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD)) {
|
||||
auto next_segment = segment.nextRouteSegment();
|
||||
if (next_segment.isValid()) {
|
||||
segment = next_segment;
|
||||
if (sm->updated("navRoute")) {
|
||||
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;
|
||||
navSource["type"] = "geojson";
|
||||
navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
|
||||
m_map->updateSource("navSource", navSource);
|
||||
m_map->setLayoutProperty("navLayer", "visibility", "visible");
|
||||
|
||||
recompute_backoff = std::max(0, recompute_backoff - 1);
|
||||
recompute_countdown = 0;
|
||||
} else {
|
||||
qWarning() << "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();
|
||||
}
|
||||
}
|
||||
}
|
||||
// Only open the map on setting destination the first time
|
||||
if (allow_open) {
|
||||
setVisible(true); // Show map on destination set/change
|
||||
allow_open = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -254,7 +215,6 @@ void MapWindow::initializeGL() {
|
|||
m_map->setPitch(MIN_PITCH);
|
||||
m_map->setStyleUrl("mapbox://styles/commaai/ckr64tlwp0azb17nqvr9fj13s");
|
||||
|
||||
connect(m_map.data(), SIGNAL(needsRendering()), this, SLOT(update()));
|
||||
QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
|
||||
if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
|
||||
loaded_once = true;
|
||||
|
|
@ -263,137 +223,11 @@ void MapWindow::initializeGL() {
|
|||
}
|
||||
|
||||
void MapWindow::paintGL() {
|
||||
if (!isVisible()) return;
|
||||
if (!isVisible() || m_map.isNull()) return;
|
||||
m_map->render();
|
||||
}
|
||||
|
||||
static float get_time_typical(const QGeoRouteSegment &segment) {
|
||||
auto maneuver = segment.maneuver();
|
||||
auto attrs = maneuver.extendedAttributes();
|
||||
return attrs.contains("mapbox.duration_typical") ? attrs["mapbox.duration_typical"].toDouble() : segment.travelTime();
|
||||
}
|
||||
|
||||
|
||||
void MapWindow::recomputeRoute() {
|
||||
if (!QUIState::ui_state.scene.started) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!last_position) {
|
||||
return;
|
||||
}
|
||||
|
||||
auto new_destination = coordinate_from_param("NavDestination");
|
||||
if (!new_destination) {
|
||||
clearRoute();
|
||||
return;
|
||||
}
|
||||
|
||||
bool should_recompute = shouldRecompute();
|
||||
if (*new_destination != nav_destination) {
|
||||
qWarning() << "Got new destination from NavDestination param" << *new_destination;
|
||||
|
||||
// Only open the map on setting destination the first time
|
||||
if (allow_open) {
|
||||
setVisible(true); // Show map on destination set/change
|
||||
allow_open = false;
|
||||
}
|
||||
|
||||
// TODO: close sidebar
|
||||
|
||||
should_recompute = true;
|
||||
}
|
||||
|
||||
if (!should_recompute) updateETA(); // ETA is updated after recompute
|
||||
|
||||
if (!gps_ok && segment.isValid()) return; // Don't recompute when gps drifts in tunnels
|
||||
|
||||
// Only do API request when map is fully loaded
|
||||
if (loaded_once) {
|
||||
if (recompute_countdown == 0 && should_recompute) {
|
||||
recompute_countdown = std::pow(2, recompute_backoff);
|
||||
recompute_backoff = std::min(7, recompute_backoff + 1);
|
||||
calculateRoute(*new_destination);
|
||||
} else {
|
||||
recompute_countdown = std::max(0, recompute_countdown - 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MapWindow::updateETA() {
|
||||
if (segment.isValid()) {
|
||||
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);
|
||||
|
||||
auto s = segment.nextRouteSegment();
|
||||
while (s.isValid()) {
|
||||
total_distance += s.distance();
|
||||
total_time += s.travelTime();
|
||||
total_time_typical += get_time_typical(s);
|
||||
|
||||
s = s.nextRouteSegment();
|
||||
}
|
||||
|
||||
emit ETAChanged(total_time, total_time_typical, total_distance);
|
||||
}
|
||||
}
|
||||
|
||||
void MapWindow::calculateRoute(QMapbox::Coordinate destination) {
|
||||
qWarning() << "Calculating route" << *last_position << "->" << destination;
|
||||
|
||||
nav_destination = destination;
|
||||
QGeoRouteRequest request(to_QGeoCoordinate(*last_position), to_QGeoCoordinate(destination));
|
||||
request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
|
||||
|
||||
if (last_bearing) {
|
||||
QVariantMap params;
|
||||
int bearing = ((int)(*last_bearing) + 360) % 360;
|
||||
params["bearing"] = bearing;
|
||||
request.setWaypointsMetadata({params});
|
||||
}
|
||||
|
||||
routing_manager->calculateRoute(request);
|
||||
}
|
||||
|
||||
void MapWindow::routeCalculated(QGeoRouteReply *reply) {
|
||||
bool got_route = false;
|
||||
if (reply->error() == QGeoRouteReply::NoError) {
|
||||
if (reply->routes().size() != 0) {
|
||||
qWarning() << "Got route response";
|
||||
|
||||
route = reply->routes().at(0);
|
||||
segment = route.firstRouteSegment();
|
||||
|
||||
auto route_points = coordinate_list_to_collection(route.path());
|
||||
QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
|
||||
QVariantMap navSource;
|
||||
navSource["type"] = "geojson";
|
||||
navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
|
||||
m_map->updateSource("navSource", navSource);
|
||||
m_map->setLayoutProperty("navLayer", "visibility", "visible");
|
||||
got_route = true;
|
||||
|
||||
updateETA();
|
||||
} else {
|
||||
qWarning() << "Got empty route response";
|
||||
}
|
||||
} else {
|
||||
qWarning() << "Got error in route reply" << reply->errorString();
|
||||
}
|
||||
|
||||
if (!got_route) {
|
||||
map_instructions->showError("Failed to Route");
|
||||
}
|
||||
|
||||
reply->deleteLater();
|
||||
}
|
||||
|
||||
void MapWindow::clearRoute() {
|
||||
segment = QGeoRouteSegment();
|
||||
nav_destination = QMapbox::Coordinate();
|
||||
|
||||
if (!m_map.isNull()) {
|
||||
m_map->setLayoutProperty("navLayer", "visibility", "none");
|
||||
m_map->setPitch(MIN_PITCH);
|
||||
|
|
@ -404,29 +238,6 @@ void MapWindow::clearRoute() {
|
|||
allow_open = true;
|
||||
}
|
||||
|
||||
|
||||
bool MapWindow::shouldRecompute() {
|
||||
if (!segment.isValid()) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// 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);
|
||||
for (size_t i = 0; i < path.size() - 1; i++) {
|
||||
auto a = path[i];
|
||||
auto b = path[i+1];
|
||||
if (a.distanceTo(b) < 1.0) {
|
||||
continue;
|
||||
}
|
||||
min_d = std::min(min_d, minimum_distance(a, b, cur));
|
||||
}
|
||||
return min_d > REROUTE_DISTANCE;
|
||||
|
||||
// TODO: Check for going wrong way in segment
|
||||
}
|
||||
|
||||
void MapWindow::mousePressEvent(QMouseEvent *ev) {
|
||||
m_lastPos = ev->localPos();
|
||||
ev->accept();
|
||||
|
|
@ -436,6 +247,7 @@ 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();
|
||||
|
||||
pan_counter = 0;
|
||||
zoom_counter = 0;
|
||||
|
|
@ -447,6 +259,7 @@ void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
|
|||
if (!delta.isNull()) {
|
||||
pan_counter = PAN_TIMEOUT;
|
||||
m_map->moveBy(delta / MAP_SCALE);
|
||||
update();
|
||||
}
|
||||
|
||||
m_lastPos = ev->localPos();
|
||||
|
|
@ -464,6 +277,8 @@ void MapWindow::wheelEvent(QWheelEvent *ev) {
|
|||
}
|
||||
|
||||
m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
|
||||
update();
|
||||
|
||||
zoom_counter = PAN_TIMEOUT;
|
||||
ev->accept();
|
||||
}
|
||||
|
|
@ -488,12 +303,15 @@ 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();
|
||||
zoom_counter = PAN_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
void MapWindow::offroadTransition(bool offroad) {
|
||||
if (!offroad) {
|
||||
if (offroad) {
|
||||
clearRoute();
|
||||
} else {
|
||||
auto dest = coordinate_from_param("NavDestination");
|
||||
setVisible(dest.has_value());
|
||||
}
|
||||
|
|
@ -512,8 +330,7 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
|
|||
}
|
||||
|
||||
{
|
||||
QWidget *w = new QWidget;
|
||||
QVBoxLayout *layout = new QVBoxLayout(w);
|
||||
QVBoxLayout *layout = new QVBoxLayout;
|
||||
|
||||
distance = new QLabel;
|
||||
distance->setStyleSheet(R"(font-size: 90px;)");
|
||||
|
|
@ -529,10 +346,13 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
|
|||
secondary->setWordWrap(true);
|
||||
layout->addWidget(secondary);
|
||||
|
||||
lane_layout = new QHBoxLayout;
|
||||
layout->addLayout(lane_layout);
|
||||
lane_widget = new QWidget;
|
||||
lane_widget->setFixedHeight(125);
|
||||
|
||||
main_layout->addWidget(w);
|
||||
lane_layout = new QHBoxLayout(lane_widget);
|
||||
layout->addWidget(lane_widget);
|
||||
|
||||
main_layout->addLayout(layout);
|
||||
}
|
||||
|
||||
setStyleSheet(R"(
|
||||
|
|
@ -549,6 +369,7 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
|
|||
}
|
||||
|
||||
void MapInstructions::updateDistance(float d) {
|
||||
d = std::max(d, 0.0f);
|
||||
QString distance_str;
|
||||
|
||||
if (QUIState::ui_state.scene.is_metric) {
|
||||
|
|
@ -584,34 +405,37 @@ void MapInstructions::showError(QString error_text) {
|
|||
secondary->setVisible(false);
|
||||
icon_01->setVisible(false);
|
||||
|
||||
last_banner = {};
|
||||
error = true;
|
||||
this->error = true;
|
||||
lane_widget->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
|
||||
// the size can only be changed afterwards
|
||||
adjustSize();
|
||||
void MapInstructions::noError() {
|
||||
error = false;
|
||||
}
|
||||
|
||||
void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
|
||||
// Word wrap widgets need fixed width
|
||||
primary->setFixedWidth(width() - 250);
|
||||
secondary->setFixedWidth(width() - 250);
|
||||
|
||||
if (banner == last_banner) return;
|
||||
QString primary_str, secondary_str;
|
||||
|
||||
auto p = banner["primary"].toMap();
|
||||
primary_str += p["text"].toString();
|
||||
// Show instruction text
|
||||
QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
|
||||
QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
|
||||
|
||||
primary->setText(primary_str);
|
||||
secondary->setVisible(secondary_str.length() > 0);
|
||||
secondary->setText(secondary_str);
|
||||
|
||||
// Show arrow with direction
|
||||
if (p.contains("type")) {
|
||||
QString fn = "../assets/navigation/direction_" + p["type"].toString();
|
||||
if (p.contains("modifier")) {
|
||||
fn += "_" + p["modifier"].toString();
|
||||
QString type = QString::fromStdString(instruction.getManeuverType());
|
||||
QString modifier = QString::fromStdString(instruction.getManeuverModifier());
|
||||
if (!type.isEmpty()) {
|
||||
QString fn = "../assets/navigation/direction_" + type;
|
||||
if (!modifier.isEmpty()) {
|
||||
fn += "_" + modifier;
|
||||
}
|
||||
fn += + ".png";
|
||||
fn = fn.replace(' ', '_');
|
||||
|
|
@ -622,64 +446,45 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
|
|||
icon_01->setVisible(true);
|
||||
}
|
||||
|
||||
if (banner.contains("secondary") && full) {
|
||||
auto s = banner["secondary"].toMap();
|
||||
secondary_str += s["text"].toString();
|
||||
}
|
||||
|
||||
clearLayout(lane_layout);
|
||||
// Show lanes
|
||||
bool has_lanes = false;
|
||||
clearLayout(lane_layout);
|
||||
for (auto const &lane: instruction.getLanes()) {
|
||||
has_lanes = true;
|
||||
bool active = lane.getActive();
|
||||
|
||||
if (banner.contains("sub") && full) {
|
||||
auto s = banner["sub"].toMap();
|
||||
auto components = s["components"].toList();
|
||||
for (auto &c : components) {
|
||||
auto cc = c.toMap();
|
||||
if (cc["type"].toString() == "lane") {
|
||||
has_lanes = true;
|
||||
|
||||
bool left = false;
|
||||
bool straight = false;
|
||||
bool right = false;
|
||||
bool active = cc["active"].toBool();
|
||||
|
||||
for (auto &dir : cc["directions"].toList()) {
|
||||
auto d = dir.toString();
|
||||
left |= d.contains("left");
|
||||
straight |= d.contains("straight");
|
||||
right |= d.contains("right");
|
||||
}
|
||||
|
||||
// TODO: Make more images based on active direction and combined directions
|
||||
QString fn = "../assets/navigation/direction_";
|
||||
if (left) {
|
||||
fn += "turn_left";
|
||||
} else if (right) {
|
||||
fn += "turn_right";
|
||||
} else if (straight) {
|
||||
fn += "turn_straight";
|
||||
}
|
||||
|
||||
QPixmap pix(fn + ".png");
|
||||
auto icon = new QLabel;
|
||||
icon->setPixmap(pix.scaledToWidth(active ? 125 : 75, Qt::SmoothTransformation));
|
||||
icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
|
||||
lane_layout->addWidget(icon);
|
||||
}
|
||||
// TODO: only use active direction if active
|
||||
bool left = false, straight = false, right = false;
|
||||
for (auto const &direction: lane.getDirections()) {
|
||||
left |= direction == cereal::NavInstruction::Direction::LEFT;
|
||||
right |= direction == cereal::NavInstruction::Direction::RIGHT;
|
||||
straight |= direction == cereal::NavInstruction::Direction::STRAIGHT;
|
||||
}
|
||||
|
||||
// TODO: Make more images based on active direction and combined directions
|
||||
QString fn = "../assets/navigation/direction_";
|
||||
if (left) {
|
||||
fn += "turn_left";
|
||||
} else if (right) {
|
||||
fn += "turn_right";
|
||||
} else if (straight) {
|
||||
fn += "turn_straight";
|
||||
}
|
||||
|
||||
QPixmap pix(fn + ".png");
|
||||
auto icon = new QLabel;
|
||||
int wh = active ? 125 : 75;
|
||||
icon->setPixmap(pix.scaled(wh, wh, Qt::IgnoreAspectRatio, Qt::SmoothTransformation));
|
||||
icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
|
||||
lane_layout->addWidget(icon);
|
||||
}
|
||||
|
||||
primary->setText(primary_str);
|
||||
secondary->setVisible(secondary_str.length() > 0);
|
||||
secondary->setText(secondary_str);
|
||||
|
||||
last_banner = banner;
|
||||
error = false;
|
||||
lane_widget->setVisible(has_lanes);
|
||||
|
||||
show();
|
||||
adjustSize();
|
||||
resize(sizeHint());
|
||||
}
|
||||
|
||||
|
||||
void MapInstructions::hideIfNoError() {
|
||||
if (!error) {
|
||||
hide();
|
||||
|
|
|
|||
|
|
@ -3,11 +3,6 @@
|
|||
#include <optional>
|
||||
|
||||
#include <QGeoCoordinate>
|
||||
#include <QGeoManeuver>
|
||||
#include <QGeoRouteRequest>
|
||||
#include <QGeoRouteSegment>
|
||||
#include <QGeoRoutingManager>
|
||||
#include <QGeoServiceProvider>
|
||||
#include <QGestureEvent>
|
||||
#include <QHBoxLayout>
|
||||
#include <QVBoxLayout>
|
||||
|
|
@ -38,18 +33,19 @@ private:
|
|||
QLabel *primary;
|
||||
QLabel *secondary;
|
||||
QLabel *icon_01;
|
||||
QWidget *lane_widget;
|
||||
QHBoxLayout *lane_layout;
|
||||
QMap<QString, QVariant> last_banner;
|
||||
bool error = false;
|
||||
|
||||
public:
|
||||
MapInstructions(QWidget * parent=nullptr);
|
||||
void showError(QString error);
|
||||
void noError();
|
||||
void hideIfNoError();
|
||||
|
||||
public slots:
|
||||
void updateDistance(float d);
|
||||
void updateInstructions(QMap<QString, QVariant> banner, bool full);
|
||||
void updateInstructions(cereal::NavInstruction::Reader instruction);
|
||||
};
|
||||
|
||||
class MapETA : public QWidget {
|
||||
|
|
@ -101,6 +97,7 @@ private:
|
|||
QTimer* timer;
|
||||
|
||||
bool loaded_once = false;
|
||||
bool allow_open = true;
|
||||
|
||||
// Panning
|
||||
QPointF m_lastPos;
|
||||
|
|
@ -113,39 +110,20 @@ private:
|
|||
FirstOrderFilter velocity_filter;
|
||||
bool localizer_valid = false;
|
||||
|
||||
// Route
|
||||
bool allow_open = true;
|
||||
bool gps_ok = false;
|
||||
QGeoServiceProvider *geoservice_provider;
|
||||
QGeoRoutingManager *routing_manager;
|
||||
QGeoRoute route;
|
||||
QGeoRouteSegment segment;
|
||||
|
||||
MapInstructions* map_instructions;
|
||||
MapETA* map_eta;
|
||||
|
||||
QMapbox::Coordinate nav_destination;
|
||||
|
||||
// Route recompute
|
||||
QTimer* recompute_timer;
|
||||
int recompute_backoff = 0;
|
||||
int recompute_countdown = 0;
|
||||
void calculateRoute(QMapbox::Coordinate destination);
|
||||
void clearRoute();
|
||||
bool shouldRecompute();
|
||||
void updateETA();
|
||||
|
||||
private slots:
|
||||
void timerUpdate();
|
||||
void routeCalculated(QGeoRouteReply *reply);
|
||||
void recomputeRoute();
|
||||
|
||||
public slots:
|
||||
void offroadTransition(bool offroad);
|
||||
|
||||
signals:
|
||||
void distanceChanged(float distance);
|
||||
void instructionsChanged(QMap<QString, QVariant> banner, bool full);
|
||||
void instructionsChanged(cereal::NavInstruction::Reader instruction);
|
||||
void ETAChanged(float seconds, float seconds_typical, float distance);
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -50,6 +50,23 @@ QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c)
|
|||
return collections;
|
||||
}
|
||||
|
||||
QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
|
||||
QMapbox::Coordinates coordinates;
|
||||
|
||||
for (auto const &c: coordinate_list) {
|
||||
QMapbox::Coordinate coordinate(c.getLatitude(), c.getLongitude());
|
||||
coordinates.push_back(coordinate);
|
||||
}
|
||||
|
||||
QMapbox::CoordinatesCollection collection;
|
||||
collection.push_back(coordinates);
|
||||
|
||||
QMapbox::CoordinatesCollections collections;
|
||||
collections.push_back(collection);
|
||||
return collections;
|
||||
|
||||
}
|
||||
|
||||
QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list) {
|
||||
QMapbox::Coordinates coordinates;
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@ QMapbox::CoordinatesCollections model_to_collection(
|
|||
const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
|
||||
const cereal::ModelDataV2::XYZTData::Reader &line);
|
||||
QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
|
||||
QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
|
||||
QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
|
||||
|
||||
float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
|
||||
|
|
|
|||
|
|
@ -10,7 +10,6 @@
|
|||
#include "selfdrive/ui/qt/maps/map.h"
|
||||
#endif
|
||||
|
||||
|
||||
OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
|
||||
QVBoxLayout *main_layout = new QVBoxLayout(this);
|
||||
main_layout->setMargin(bdr_s);
|
||||
|
|
@ -93,7 +92,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
|
|||
settings.setAccessToken(token.trimmed());
|
||||
|
||||
MapWindow * m = new MapWindow(settings);
|
||||
m->setFixedWidth(width() / 2 - bdr_s);
|
||||
m->setFixedWidth(topWidget(this)->width() / 2);
|
||||
QObject::connect(this, &OnroadWindow::offroadTransitionSignal, m, &MapWindow::offroadTransition);
|
||||
split->addWidget(m, 0, Qt::AlignRight);
|
||||
map = m;
|
||||
|
|
|
|||
|
|
@ -120,3 +120,9 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
|
|||
auto bts = msg.toUtf8();
|
||||
cloudlog_e(levels[type], file.c_str(), context.line, function.c_str(), "%s", bts.constData());
|
||||
}
|
||||
|
||||
|
||||
QWidget* topWidget (QWidget* widget) {
|
||||
while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
|
||||
return widget;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -18,6 +18,7 @@ void setQtSurfaceFormat();
|
|||
QString timeAgo(const QDateTime &date);
|
||||
void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
|
||||
void initApp();
|
||||
QWidget* topWidget (QWidget* widget);
|
||||
|
||||
|
||||
// convenience class for wrapping layouts
|
||||
|
|
|
|||
Loading…
Reference in New Issue