zhudongjer/carrot
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fix navInstruction...

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This commit is contained in:
ajouatom 2025-02-24 10:50:20 +09:00
parent daee80b504
commit 136ef70b3b
1 changed files with 8 additions and 3 deletions
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9
selfdrive/ui/carrot.cc
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@ -1117,11 +1117,15 @@ public:
return;
}
const auto carrot_man = sm["carrotMan"].getCarrotMan();
float maneuverDistance = 0;
if (sm.alive("navInstruction")) {
const auto nav_inst = sm["navInstruction"].getNavInstruction();
//const auto car_state = sm["carState"].getCarState();
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();