def recompute_route(self):
if self.last_position is None:
return
new_destination = coordinate_from_param("NavDestination", self.params)
if new_destination is None:
self.clear_route()
return
should_recompute = self.should_recompute()
if new_destination != self.nav_destination:
cloudlog.warning(
f"Got new destination from NavDestination param {new_destination}"
)
should_recompute = True
# Don't recompute when GPS drifts in tunnels
if not self.gps_ok and self.step_idx is not None:
return
if self.recompute_countdown == 0 and should_recompute:
self.recompute_countdown = 2**self.recompute_backoff
self.recompute_backoff = min(6, self.recompute_backoff + 1)
self.calculate_route(new_destination)
else:
self.recompute_countdown = max(0, self.recompute_countdown - 1)
def __init__(self, sm, pm):
self.sm = sm
self.pm = pm
self.params = Params()
# Get last gps position from params
self.last_position = coordinate_from_param("LastGPSPosition", self.params)
self.last_bearing = None
self.gps_ok = False
self.nav_destination = None
self.step_idx = None
self.route = None
self.route_geometry = None
self.recompute_backoff = 0
self.recompute_countdown = 0
self.ui_pid = None
if "MAPBOX_TOKEN" in os.environ:
self.mapbox_token = os.environ["MAPBOX_TOKEN"]
self.mapbox_host = "https://api.mapbox.com"
else:
try:
self.mapbox_token = Api(self.params.get("DongleId", encoding='utf8')).get_token(expiry_hours=4 * 7 * 24)
except FileNotFoundError:
cloudlog.exception("Failed to generate mapbox token due to missing private key. Ensure device is registered.")
self.mapbox_token = ""
self.mapbox_host = "https://maps.comma.ai"