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map renderer: retry when render fails (#26741)

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* map renderer: retry when render fails

* cleanup
This commit is contained in:
Adeeb Shihadeh
2022-12-09 14:31:18 -08:00
committed by GitHub
parent 27dc9c0e79
commit 3ff37cca21
1 changed files with 21 additions and 5 deletions
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selfdrive/navd/map_renderer.cc
+21 -5
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@@ -56,6 +56,11 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
m_map->setFramebufferObject(fbo->handle(), fbo->size());
gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
// https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
//LOGD("new state %d", change);
});
QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) {
LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
});
@@ -86,6 +91,19 @@ void MapRenderer::msgUpdate() {
bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) {
updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
// TODO: use the static rendering mode
if (!loaded() && frame_id > 0) {
for (int i = 0; i < 5 && !loaded(); i++) {
LOGW("map render retry #%d, %d", i+1, m_map.isNull());
QApplication::processEvents(QEventLoop::AllEvents, 100);
update();
}
if (!loaded()) {
LOGE("failed to render map after retry");
}
}
}
}
@@ -128,14 +146,12 @@ void MapRenderer::update() {
gl_functions->glFlush();
double end_t = millis_since_boot();
publish((end_t - start_t) / 1000.0);
if ((vipc_server != nullptr) && loaded()) {
publish((end_t - start_t) / 1000.0);
}
}
void MapRenderer::publish(const double render_time) {
if (!vipc_server || !loaded()) {
return;
}
QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
uint64_t ts = nanos_since_boot();
VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);