Navigate on openpilot without a comma prime subscription

Added functionality to use navigate on openpilot without a comma prime subscription with a custom set MapBox key.

selfdrive/ui/qt/maps/map_helpers.h

@@ -14,7 +14,7 @@
 #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"
 
@@ -65,6 +66,9 @@ private:
   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

@@ -26,6 +26,7 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 
+#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
 #include "selfdrive/frogpilot/ui/control_settings.h"
 #include "selfdrive/frogpilot/ui/vehicle_settings.h"
 #include "selfdrive/frogpilot/ui/visual_settings.h"
@@ -623,6 +624,7 @@ 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},
   };