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.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community

selfdrive/ui/SConscript

@@ -25,7 +25,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/
                "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/frogpilot_functions.cc",
+               "../frogpilot/ui/frogpilot_functions.cc", "../frogpilot/navigation/ui/navigation_settings.cc",
                "../frogpilot/ui/control_settings.cc", "../frogpilot/ui/vehicle_settings.cc",
                "../frogpilot/ui/visual_settings.cc"]
 

selfdrive/ui/qt/maps/map.cc

@@ -112,6 +112,50 @@ void MapWindow::initLayers() {
     // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
   }
+
+  if (!m_map->layerExists("buildingsLayer")) {
+    qDebug() << "Initializing buildingsLayer";
+    QVariantMap buildings;
+    buildings["id"] = "buildingsLayer";
+    buildings["source"] = "composite";
+    buildings["source-layer"] = "building";
+    buildings["type"] = "fill-extrusion";
+    buildings["minzoom"] = 15;
+    m_map->addLayer(buildings);
+    m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
+
+    QVariantList fillExtrusionHight = {
+      "interpolate",
+      QVariantList{"linear"},
+      QVariantList{"zoom"},
+      15, 0,
+      15.05, QVariantList{"get", "height"}
+    };
+
+    QVariantList fillExtrusionBase = {
+      "interpolate",
+      QVariantList{"linear"},
+      QVariantList{"zoom"},
+      15, 0,
+      15.05, QVariantList{"get", "min_height"}
+    };
+
+    QVariantList fillExtrusionOpacity = {
+      "interpolate", 
+      QVariantList{"linear"},
+      QVariantList{"zoom"},
+      15, 0,
+      15.5, .6,
+      17, .6,
+      20, 0
+    };
+
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey"));
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity);
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHight);
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase);
+    m_map->setLayoutProperty("buildingsLayer", "visibility", "visible");
+  }
 }
 
 void MapWindow::updateState(const UIState &s) {
@@ -124,7 +168,8 @@ void MapWindow::updateState(const UIState &s) {
   if (sm.updated("modelV2")) {
     // set path color on change, and show map on rising edge of navigate on openpilot
     bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral());
+                       (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral()) &&
+                       (!params.get("NavDestination").empty() || params.getInt("PrimeType") != 0);
     if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
       if (loaded_once) {
         m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));

selfdrive/ui/qt/maps/map_helpers.h

@@ -13,7 +13,7 @@
 #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 +62,13 @@ 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);
+      // NOO without Prime IP extraction
+      if (notPrime) {
+        ipAddress = QString("%1:8082").arg(wifi->getIp4Address());
+        subtitle = new QLabel(tr("Manage at %1").arg(ipAddress), this);
+      } else {
+        subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
+      }
       subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
       heading->addWidget(subtitle);
     }
@@ -138,6 +144,12 @@ void MapSettings::refresh() {
   for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
 
   setUpdatesEnabled(true);
+
+  // NOO without Prime IP update
+  if (notPrime) {
+    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 +65,12 @@ private:
   DestinationWidget *work_widget;
   std::vector<DestinationWidget *> widgets;
 
+  // FrogPilot variables
+  bool notPrime = Params().getInt("PrimeType") == 0;
+  QLabel *subtitle;
+  QString ipAddress;
+  WifiManager *wifi = new WifiManager(this);
+
 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

@@ -24,6 +24,7 @@
 #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"
@@ -421,6 +422,7 @@ 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},
   };