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nav: simplify segment transition (#21383)

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This commit is contained in:
Willem Melching
2021-06-23 15:00:32 +02:00
committed by GitHub
parent cdfba105ed
commit f32ca73724
2 changed files with 18 additions and 23 deletions
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selfdrive/ui/qt/maps/map.cc
+18 -22
View File
@@ -14,6 +14,8 @@
const int PAN_TIMEOUT = 100;
const bool DRAW_MODEL_PATH = false;
const qreal REROUTE_DISTANCE = 25;
const float MANEUVER_TRANSITION_THRESHOLD = 10;
const float MAX_ZOOM = 17;
const float MIN_ZOOM = 14;
const float MAX_PITCH = 50;
@@ -179,8 +181,8 @@ void MapWindow::timerUpdate() {
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);
float distance_to_maneuver = segment.distance() - along_geometry;
emit distanceChanged(std::max(0.0f, distance_to_maneuver));
m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
@@ -188,33 +190,27 @@ void MapWindow::timerUpdate() {
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);
emit instructionsChanged(banner_0, distance_to_maneuver < show_at);
}
}
// Handle transition to next route segment
auto next_segment = segment.nextRouteSegment();
if (next_segment.isValid()) {
auto next_maneuver = next_segment.maneuver();
if (next_maneuver.isValid()) {
float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(*last_position));
// Switch to next route segment
if (next_maneuver_distance < REROUTE_DISTANCE && next_maneuver_distance > last_maneuver_distance) {
// Transition to next route segment
if (distance_to_maneuver < -MANEUVER_TRANSITION_THRESHOLD) {
auto next_segment = segment.nextRouteSegment();
if (next_segment.isValid()) {
segment = next_segment;
recompute_backoff = std::max(0, recompute_backoff - 1);
recompute_countdown = 0;
}
last_maneuver_distance = next_maneuver_distance;
}
} else {
// Destination reached
Params().remove("NavDestination");
} 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();
// Clear route if driving away from destination
float d = segment.maneuver().position().distanceTo(to_QGeoCoordinate(*last_position));
if (d > REROUTE_DISTANCE) {
clearRoute();
}
}
}
}
}
selfdrive/ui/qt/maps/map.h
-1
View File
@@ -117,7 +117,6 @@ private:
MapETA* map_eta;
QMapbox::Coordinate nav_destination;
double last_maneuver_distance = 1000;
// Route recompute
QTimer* recompute_timer;