FrogPilot features - Navigate on openpilot without comma prime

selfdrive/frogpilot/navigation/ui/navigation_settings.cc

@@ -0,0 +1,156 @@
+#include <QMouseEvent>
+
+#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
+
+FrogPilotNavigationPanel::FrogPilotNavigationPanel(QWidget *parent) : QFrame(parent), scene(uiState()->scene) {
+  mainLayout = new QStackedLayout(this);
+
+  navigationWidget = new QWidget();
+  QVBoxLayout *navigationLayout = new QVBoxLayout(navigationWidget);
+  navigationLayout->setMargin(40);
+
+  FrogPilotListWidget *list = new FrogPilotListWidget(navigationWidget);
+
+  Primeless *primelessPanel = new Primeless(this);
+  mainLayout->addWidget(primelessPanel);
+
+  ButtonControl *manageNOOButton = new ButtonControl(tr("Manage Primeless Navigation Settings"), tr("MANAGE"), tr("Manage primeless navigate on openpilot settings."));
+  QObject::connect(manageNOOButton, &ButtonControl::clicked, [=]() { mainLayout->setCurrentWidget(primelessPanel); });
+  QObject::connect(primelessPanel, &Primeless::backPress, [=]() { mainLayout->setCurrentWidget(navigationWidget); });
+  list->addItem(manageNOOButton);
+  manageNOOButton->setVisible(!uiState()->hasPrime());
+}
+
+Primeless::Primeless(QWidget *parent) : QWidget(parent) {
+  QStackedLayout *primelessLayout = new QStackedLayout(this);
+
+  QWidget *mainWidget = new QWidget();
+  mainLayout = new QVBoxLayout(mainWidget);
+  mainLayout->setMargin(40);
+
+  backButton = new QPushButton(tr("Back"), this);
+  backButton->setObjectName("backButton");
+  backButton->setFixedSize(400, 100);
+  QObject::connect(backButton, &QPushButton::clicked, this, [this]() { emit backPress(); });
+  mainLayout->addWidget(backButton, 0, Qt::AlignLeft);
+
+  list = new FrogPilotListWidget(mainWidget);
+
+  wifi = new WifiManager(this);
+  ipLabel = new LabelControl(tr("Manage Your Settings At"), QString("%1:8082").arg(wifi->getIp4Address()));
+  list->addItem(ipLabel);
+
+  std::vector<QString> searchOptions{tr("MapBox"), tr("Amap"), tr("Google")};
+  ButtonParamControl *searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"),
+                                       tr("Select a search provider for destination queries in Navigate on Openpilot. Options include MapBox (recommended), Amap, and Google Maps."),
+                                       "", searchOptions);
+  list->addItem(searchInput);
+
+  createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk.");
+  createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk.");
+
+  mapboxPublicKeySet = !params.get("MapboxPublicKey").empty();
+  mapboxSecretKeySet = !params.get("MapboxSecretKey").empty();
+  setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet;
+
+  QHBoxLayout *setupLayout = new QHBoxLayout();
+  setupLayout->setMargin(0);
+
+  imageLabel = new QLabel(this);
+  pixmap.load(currentStep);
+  imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation));
+  setupLayout->addWidget(imageLabel, 0, Qt::AlignCenter);
+  imageLabel->hide();
+
+  ButtonControl *setupButton = new ButtonControl(tr("Setup Instructions"), tr("VIEW"), tr("View the instructions to set up MapBox for Primeless Navigation."), this);
+  QObject::connect(setupButton, &ButtonControl::clicked, this, [this]() {
+    updateStep();
+    backButton->hide();
+    list->setVisible(false);
+    imageLabel->show();
+  });
+  list->addItem(setupButton);
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &Primeless::updateState);
+
+  mainLayout->addLayout(setupLayout);
+  mainLayout->addWidget(new ScrollView(list, mainWidget));
+  mainWidget->setLayout(mainLayout);
+  primelessLayout->addWidget(mainWidget);
+
+  setLayout(primelessLayout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+  )");
+}
+
+void Primeless::hideEvent(QHideEvent *event) {
+  QWidget::hideEvent(event);
+  backButton->show();
+  list->setVisible(true);
+  imageLabel->hide();
+}
+
+void Primeless::mousePressEvent(QMouseEvent *event) {
+  backButton->show();
+  list->setVisible(true);
+  imageLabel->hide();
+}
+
+void Primeless::updateState() {
+  if (!isVisible()) return;
+
+  QString ipAddress = wifi->getIp4Address();
+  ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress));
+
+  mapboxPublicKeySet = !params.get("MapboxPublicKey").empty();
+  mapboxSecretKeySet = !params.get("MapboxSecretKey").empty();
+  setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet && setupCompleted;
+
+  publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD"));
+  secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD"));
+
+  if (imageLabel->isVisible()) {
+    updateStep();
+  }
+}
+
+void Primeless::createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string &paramKey, const QString &prefix) {
+  control = new ButtonControl(label, "", tr("Manage your %1."), this);
+  QObject::connect(control, &ButtonControl::clicked, this, [this, control, label, paramKey, prefix] {
+    if (control->text() == tr("ADD")) {
+      QString key = InputDialog::getText(tr("Enter your %1").arg(label), this);
+      if (!key.startsWith(prefix)) {
+        key = prefix + key;
+      }
+      if (key.length() >= 80) {
+        params.put(paramKey, key.toStdString());
+      }
+    } else {
+      params.remove(paramKey);
+    }
+  });
+  list->addItem(control);
+  control->setText(params.get(paramKey).empty() ? tr("ADD") : tr("REMOVE"));
+}
+
+void Primeless::updateStep() {
+  currentStep = setupCompleted ? "../frogpilot/navigation/navigation_training/setup_completed.png" :
+                (mapboxPublicKeySet && mapboxSecretKeySet) ? "../frogpilot/navigation/navigation_training/both_keys_set.png" :
+                mapboxPublicKeySet ? "../frogpilot/navigation/navigation_training/public_key_set.png" : "../frogpilot/navigation/navigation_training/no_keys_set.png";
+
+  pixmap.load(currentStep);
+  imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation));
+}

selfdrive/frogpilot/navigation/ui/navigation_settings.h

@@ -0,0 +1,60 @@
+#pragma once
+
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/ui.h"
+
+class Primeless : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit Primeless(QWidget *parent = nullptr);
+
+protected:
+  void mousePressEvent(QMouseEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+
+private:
+  void createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string &paramKey, const QString &prefix);
+  void updateState();
+  void updateStep();
+
+  QVBoxLayout *mainLayout;
+  FrogPilotListWidget *list;
+
+  QPushButton *backButton;
+  QLabel *imageLabel;
+
+  ButtonControl *publicMapboxKeyControl;
+  ButtonControl *secretMapboxKeyControl;
+  LabelControl *ipLabel;
+
+  WifiManager *wifi;
+
+  bool mapboxPublicKeySet;
+  bool mapboxSecretKeySet;
+  bool setupCompleted;
+  QPixmap pixmap;
+  QString currentStep = "../assets/images/setup_completed.png";
+
+  Params params;
+
+signals:
+  void backPress();
+};
+
+class FrogPilotNavigationPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotNavigationPanel(QWidget *parent = 0);
+
+private:
+  QStackedLayout *mainLayout;
+  QWidget *navigationWidget;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+  UIScene &scene;
+};

selfdrive/navd/navd.py

@@ -56,6 +56,9 @@ class RouteEngine:
     if "MAPBOX_TOKEN" in os.environ:
       self.mapbox_token = os.environ["MAPBOX_TOKEN"]
       self.mapbox_host = "https://api.mapbox.com"
+    elif self.params.get_int("PrimeType") == 0:
+      self.mapbox_token = self.params.get("MapboxPublicKey", encoding='utf8')
+      self.mapbox_host = "https://api.mapbox.com"
     else:
       self.api = Api(self.params.get("DongleId", encoding='utf8'))
       self.mapbox_host = "https://maps.comma.ai"

selfdrive/ui/SConscript

@@ -23,7 +23,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc",
-               "../frogpilot/ui/qt/widgets/frogpilot_controls.cc",
+               "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", "../frogpilot/navigation/ui/navigation_settings.cc",
                "../frogpilot/ui/qt/offroad/control_settings.cc", "../frogpilot/ui/qt/offroad/vehicle_settings.cc",
                "../frogpilot/ui/qt/offroad/visual_settings.cc"]
 

selfdrive/ui/qt/maps/map_helpers.h

@@ -8,12 +8,13 @@
 #include <eigen3/Eigen/Dense>
 #include <QGeoCoordinate>
 
+#include "common/params.h"
 #include "common/util.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
 #include "cereal/messaging/messaging.h"
 
-const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
+const QString MAPBOX_TOKEN = QString::fromStdString(Params().get("MapboxPublicKey"));
 const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
 const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
 

selfdrive/ui/qt/maps/map_settings.cc

@@ -62,7 +62,7 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
       title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
       heading->addWidget(title);
 
-      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
+      subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
       subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
       heading->addWidget(subtitle);
     }
@@ -93,6 +93,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
 
   setStyleSheet("MapSettings { background-color: #333333; }");
   QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
+
+  wifi = new WifiManager(this);
 }
 
 void MapSettings::showEvent(QShowEvent *event) {
@@ -138,6 +140,12 @@ void MapSettings::refresh() {
   for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
 
   setUpdatesEnabled(true);
+
+  // Use IP for NOO without Prime
+  if (!uiState()->hasPrime()) {
+    QString ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
+    subtitle->setText(tr("Manage at %1").arg(ipAddress));
+  }
 }
 
 void MapSettings::navigateTo(const QJsonObject &place) {

selfdrive/ui/qt/maps/map_settings.h

@@ -12,6 +12,7 @@
 #include <QVBoxLayout>
 
 #include "common/params.h"
+#include "selfdrive/ui/qt/network/wifi_manager.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -64,6 +65,11 @@ private:
   DestinationWidget *work_widget;
   std::vector<DestinationWidget *> widgets;
 
+  // FrogPilot variables
+  QLabel *subtitle;
+
+  WifiManager *wifi;
+
 signals:
   void closeSettings();
 };

selfdrive/ui/qt/network/wifi_manager.h

@@ -58,6 +58,7 @@ public:
   void setTetheringEnabled(bool enabled);
   bool isTetheringEnabled();
   void changeTetheringPassword(const QString &newPassword);
+  QString getIp4Address();
   QString getTetheringPassword();
 
 private:
@@ -72,7 +73,6 @@ private:
 
   QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI);
   uint getAdapterType(const QDBusObjectPath &path);
-  QString getIp4Address();
   void deactivateConnectionBySsid(const QString &ssid);
   void deactivateConnection(const QDBusObjectPath &path);
   QVector<QDBusObjectPath> getActiveConnections();

selfdrive/ui/qt/offroad/settings.cc

@@ -18,6 +18,7 @@
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 
+#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/control_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h"
@@ -611,6 +612,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
     {tr("Controls"), frogpilotControls},
+    {tr("Navigation"), new FrogPilotNavigationPanel(this)},
     {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
     {tr("Visuals"), frogpilotVisuals},
   };