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FrogPilot features - Display model path in map

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Co-Authored-By: pencilpusher <83676301+jakethesnake420@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-11 15:17:37 -07:00
parent bf0f72bf1c
commit e560b08376
1 changed files with 12 additions and 0 deletions
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12
selfdrive/ui/qt/maps/map.cc
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@ -196,6 +196,18 @@ void MapWindow::updateState(const UIState &s) {
} }
} }
// 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()) { if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
auto nav_dest = coordinate_from_param("NavDestination"); auto nav_dest = coordinate_from_param("NavDestination");
bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest && bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&