brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-04-27 13:43:16 -05:00
parent 21363ce751
commit ea1aad5ed1
128 changed files with 3533 additions and 1918 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
selfdrive/ui/qt/maps/map.cc Executable file → Normal file
View File

@@ -18,7 +18,7 @@ const float MAX_PITCH = 50;
const float MIN_PITCH = 0;
const float MAP_SCALE = 2;
MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
map_overlay = new QWidget (this);
@@ -57,10 +57,10 @@ void MapWindow::initLayers() {
if (!m_map->layerExists("modelPathLayer")) {
qDebug() << "Initializing modelPathLayer";
QVariantMap modelPath;
modelPath["id"] = "modelPathLayer";
//modelPath["id"] = "modelPathLayer";
modelPath["type"] = "line";
modelPath["source"] = "modelPathSource";
m_map->addLayer(modelPath);
m_map->addLayer("modelPathLayer", modelPath);
m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
@@ -68,10 +68,9 @@ void MapWindow::initLayers() {
if (!m_map->layerExists("navLayer")) {
qDebug() << "Initializing navLayer";
QVariantMap nav;
nav["id"] = "navLayer";
nav["type"] = "line";
nav["source"] = "navSource";
m_map->addLayer(nav, "road-intersection");
m_map->addLayer("navLayer", nav, "road-intersection");
QVariantMap transition;
transition["duration"] = 400; // ms
@@ -84,10 +83,9 @@ void MapWindow::initLayers() {
qDebug() << "Initializing pinLayer";
m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
QVariantMap pin;
pin["id"] = "pinLayer";
pin["type"] = "symbol";
pin["source"] = "pinSource";
m_map->addLayer(pin);
m_map->addLayer("pinLayer", pin);
m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
@@ -100,10 +98,9 @@ void MapWindow::initLayers() {
m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
QVariantMap carPos;
carPos["id"] = "carPosLayer";
carPos["type"] = "symbol";
carPos["source"] = "carPosSource";
m_map->addLayer(carPos);
m_map->addLayer("carPosLayer", carPos);
m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
@@ -112,7 +109,6 @@ void MapWindow::initLayers() {
// TODO: remove, symbol-sort-key does not seem to matter outside of each layer
m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
}
if (!m_map->layerExists("buildingsLayer")) {
qDebug() << "Initializing buildingsLayer";
QVariantMap buildings;
@@ -121,7 +117,7 @@ void MapWindow::initLayers() {
buildings["source-layer"] = "building";
buildings["type"] = "fill-extrusion";
buildings["minzoom"] = 15;
m_map->addLayer(buildings);
m_map->addLayer("buildingsLayer", buildings);
m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
QVariantList fillExtrusionHight = {
@@ -141,7 +137,7 @@ void MapWindow::initLayers() {
};
QVariantList fillExtrusionOpacity = {
"interpolate",
"interpolate",
QVariantList{"linear"},
QVariantList{"zoom"},
15, 0,
@@ -168,8 +164,7 @@ void MapWindow::updateState(const UIState &s) {
if (sm.updated("modelV2")) {
// set path color on change, and show map on rising edge of navigate on openpilot
bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
(sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral()) &&
(!params.get("NavDestination").empty() || params.getInt("PrimeType") != 0);
(sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral());
if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
if (loaded_once) {
m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
@@ -194,12 +189,24 @@ void MapWindow::updateState(const UIState &s) {
locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
if (locationd_valid) {
last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
}
}
// Credit to jakethesnake420
if (loaded_once && (sm.rcv_frame("uiPlan") != model_rcv_frame)) {
auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["uiPlan"].getUiPlan().getPosition());
QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {});
QVariantMap modelV2Path;
modelV2Path["type"] = "geojson";
modelV2Path["data"] = QVariant::fromValue<QMapLibre::Feature>(model_path_feature);
m_map->updateSource("modelPathSource", modelV2Path);
model_rcv_frame = sm.rcv_frame("uiPlan");
}
if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
auto nav_dest = coordinate_from_param("NavDestination");
bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
@@ -231,10 +238,10 @@ void MapWindow::updateState(const UIState &s) {
if (locationd_valid) {
// Update current location marker
auto point = coordinate_to_collection(*last_position);
QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {});
QVariantMap carPosSource;
carPosSource["type"] = "geojson";
carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
carPosSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature1);
m_map->updateSource("carPosSource", carPosSource);
// Map bearing isn't updated when interacting, keep location marker up to date
@@ -275,16 +282,40 @@ void MapWindow::updateState(const UIState &s) {
qWarning() << "Updating navLayer with new route";
auto route = sm["navRoute"].getNavRoute();
auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
QVariantMap navSource;
navSource["type"] = "geojson";
navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
m_map->updateSource("navSource", navSource);
m_map->setLayoutProperty("navLayer", "visibility", "visible");
route_rcv_frame = sm.rcv_frame("navRoute");
updateDestinationMarker();
}
// Map Styling - Credit goes to OPKR!
int map_style = uiState()->scene.map_style;
if (map_style != previous_map_style) {
std::unordered_map<int, std::string> styleUrls = {
{0, "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"}, // Stock openpilot
{1, "mapbox://styles/mapbox/streets-v11"}, // Mapbox Streets
{2, "mapbox://styles/mapbox/outdoors-v11"}, // Mapbox Outdoors
{3, "mapbox://styles/mapbox/light-v10"}, // Mapbox Light
{4, "mapbox://styles/mapbox/dark-v10"}, // Mapbox Dark
{5, "mapbox://styles/mapbox/satellite-v9"}, // Mapbox Satellite
{6, "mapbox://styles/mapbox/satellite-streets-v11"}, // Mapbox Satellite Streets
{7, "mapbox://styles/mapbox/navigation-day-v1"}, // Mapbox Navigation Day
{8, "mapbox://styles/mapbox/navigation-night-v1"}, // Mapbox Navigation Night
{9, "mapbox://styles/mapbox/traffic-night-v2"}, // Mapbox Traffic Night
{10, "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp"}, // mike854's (Satellite hybrid)
};
std::unordered_map<int, std::string>::iterator it = styleUrls.find(map_style);
m_map->setStyleUrl(QString::fromStdString(it->second));
}
previous_map_style = map_style;
}
void MapWindow::setError(const QString &err_str) {
@@ -301,24 +332,24 @@ void MapWindow::resizeGL(int w, int h) {
}
void MapWindow::initializeGL() {
m_map.reset(new QMapboxGL(this, m_settings, size(), 1));
m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1));
if (last_position) {
m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
} else {
m_map->setCoordinateZoom(QMapbox::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
}
m_map->setMargins({0, 350, 0, 50});
m_map->setPitch(MIN_PITCH);
m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
// set global animation duration to 0 ms so visibility changes are instant
if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) {
if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) {
m_map->setTransitionOptions(0, 0);
}
if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) {
loaded_once = true;
}
});
@@ -426,10 +457,10 @@ void MapWindow::updateDestinationMarker() {
auto nav_dest = coordinate_from_param("NavDestination");
if (nav_dest.has_value()) {
auto point = coordinate_to_collection(*nav_dest);
QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {});
QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {});
QVariantMap pinSource;
pinSource["type"] = "geojson";
pinSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
pinSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
m_map->updateSource("pinSource", pinSource);
m_map->setPaintProperty("pinLayer", "visibility", "visible");
} else {