openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/ui/qt/maps/map.h

@@ -0,0 +1,89 @@
+#pragma once
+
+#include <optional>
+
+#include <QGeoCoordinate>
+#include <QGestureEvent>
+#include <QLabel>
+#include <QMap>
+#include <QMapboxGL>
+#include <QMouseEvent>
+#include <QOpenGLWidget>
+#include <QPixmap>
+#include <QPushButton>
+#include <QScopedPointer>
+#include <QString>
+#include <QVBoxLayout>
+#include <QWheelEvent>
+
+#include "cereal/messaging/messaging.h"
+#include "common/params.h"
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/maps/map_eta.h"
+#include "selfdrive/ui/qt/maps/map_instructions.h"
+
+class MapWindow : public QOpenGLWidget {
+  Q_OBJECT
+
+public:
+  MapWindow(const QMapboxGLSettings &);
+  ~MapWindow();
+
+private:
+  void initializeGL() final;
+  void paintGL() final;
+  void resizeGL(int w, int h) override;
+
+  QMapboxGLSettings m_settings;
+  QScopedPointer<QMapboxGL> m_map;
+
+  void initLayers();
+
+  void mousePressEvent(QMouseEvent *ev) final;
+  void mouseDoubleClickEvent(QMouseEvent *ev) final;
+  void mouseMoveEvent(QMouseEvent *ev) final;
+  void wheelEvent(QWheelEvent *ev) final;
+  bool event(QEvent *event) final;
+  bool gestureEvent(QGestureEvent *event);
+  void pinchTriggered(QPinchGesture *gesture);
+  void setError(const QString &err_str);
+
+  bool loaded_once = false;
+
+  // Panning
+  QPointF m_lastPos;
+  int interaction_counter = 0;
+
+  // Position
+  std::optional<QMapbox::Coordinate> last_valid_nav_dest;
+  std::optional<QMapbox::Coordinate> last_position;
+  std::optional<float> last_bearing;
+  FirstOrderFilter velocity_filter;
+  bool locationd_valid = false;
+  bool routing_problem = false;
+
+  QWidget *map_overlay;
+  QLabel *error;
+  MapInstructions* map_instructions;
+  MapETA* map_eta;
+
+  // Blue with normal nav, green when nav is input into the model
+  QColor getNavPathColor(bool nav_enabled) {
+    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
+  }
+
+  void clearRoute();
+  void updateDestinationMarker();
+  uint64_t route_rcv_frame = 0;
+
+private slots:
+  void updateState(const UIState &s);
+
+public slots:
+  void offroadTransition(bool offroad);
+
+signals:
+  void requestVisible(bool visible);
+  void requestSettings(bool settings);
+};