nav: fix receiving navRoute while map is loading (#22929)

selfdrive/ui/qt/maps/map.cc

@@ -25,6 +25,9 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) :
   m_settings(settings), velocity_filter(0, 10, 0.1) {
   sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"});
 
+  // Connect now, so any navRoutes sent while the map is initializing are not dropped
+  sm->update(0);
+
   timer = new QTimer(this);
   QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
   timer->start(100);
@@ -50,6 +53,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) :
   }
 
   grabGesture(Qt::GestureType::PinchGesture);
+  qDebug() << "MapWindow initialized";
 }
 
 MapWindow::~MapWindow() {
@@ -178,7 +182,8 @@ void MapWindow::timerUpdate() {
     }
   }
 
-  if (sm->updated("navRoute")) {
+  if (sm->rcv_frame("navRoute") != route_rcv_frame) {
+    qWarning() << "Got new navRoute from navd";
     auto route = (*sm)["navRoute"].getNavRoute();
     auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
     QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
@@ -193,6 +198,7 @@ void MapWindow::timerUpdate() {
       setVisible(true); // Show map on destination set/change
       allow_open = false;
     }
+    route_rcv_frame = sm->rcv_frame("navRoute");
   }
 }
 

selfdrive/ui/qt/maps/map.h

@@ -114,6 +114,7 @@ private:
   MapETA* map_eta;
 
   void clearRoute();
+  uint64_t route_rcv_frame = 0;
 
 private slots:
   void timerUpdate();