From 136ef70b3b2c30ec5ad5f32064884314ee27dc3a Mon Sep 17 00:00:00 2001
From: ajouatom <ajouatom@gmail.com>
Date: Mon, 24 Feb 2025 10:50:20 +0900
Subject: [PATCH] fix navInstruction...

---
 selfdrive/ui/carrot.cc | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index 2fb5ae9..cfbdb40 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -1117,11 +1117,15 @@ public:
             return;
         }
         const auto carrot_man = sm["carrotMan"].getCarrotMan();
-        const auto nav_inst = sm["navInstruction"].getNavInstruction();
-        //const auto car_state = sm["carState"].getCarState();
+        float maneuverDistance = 0;
+        if (sm.alive("navInstruction")) {
+          const auto nav_inst = sm["navInstruction"].getNavInstruction();
+          maneuverDistance = nav_inst.getManeuverDistance();
+        }
+          
         active_carrot = carrot_man.getActiveCarrot();
         //printf("active_carrot: %d\n", active_carrot);
-        if (active_carrot <= 1 || (carrot_man.getNGoPosDist() <= 0 && nav_inst.getManeuverDistance() > 0)) active_navi_inst = true;
+        if (active_carrot <= 1 || (carrot_man.getNGoPosDist() <= 0 && maneuverDistance > 0)) active_navi_inst = true;
         else active_navi_inst = false;
 
         if (active_carrot > 1) {
@@ -1147,6 +1151,7 @@ public:
           szTBTMainText = QString::fromStdString(carrot_man.getSzTBTMainText());
           
         } else if(sm.alive("navInstruction") && sm.valid("navInstruction")) {
+          const auto nav_inst = sm["navInstruction"].getNavInstruction();
           xTurnInfo = 0;
           xDistToTurn = nav_inst.getManeuverDistance();
           nRoadLimitSpeed = nav_inst.getSpeedLimit();