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

common/params.cc

@@ -220,6 +220,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AggressiveJerk", PERSISTENT},
     {"AlwaysOnLateral", PERSISTENT},
     {"AlwaysOnLateralMain", PERSISTENT},
+    {"AMapKey1", PERSISTENT},
+    {"AMapKey2", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"AverageCurvature", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
@@ -252,6 +254,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FireTheBabysitter", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"GasRegenCmd", PERSISTENT},
+    {"GMapKey", PERSISTENT},
     {"GoatScream", PERSISTENT},
     {"GreenLightAlert", PERSISTENT},
     {"HideSpeed", PERSISTENT},
@@ -262,6 +265,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},
     {"LowerVolt", PERSISTENT},
+    {"MapboxPublicKey", PERSISTENT},
+    {"MapboxSecretKey", PERSISTENT},
     {"MapTargetVelocities", PERSISTENT},
     {"Model", PERSISTENT},
     {"ModelList", PERSISTENT},
@@ -272,6 +277,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MuteDoor", PERSISTENT},
     {"MuteOverheated", PERSISTENT},
     {"MuteSeatbelt", PERSISTENT},
+    {"NavEnable", PERSISTENT},
     {"NoLogging", PERSISTENT},
     {"OfflineMode", PERSISTENT},
     {"PathEdgeWidth", PERSISTENT},
@@ -281,6 +287,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ReverseCruise", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
+    {"SearchInput", PERSISTENT},
     {"ShowCPU", PERSISTENT},
     {"ShowFPS", PERSISTENT},
     {"ShowGPU", PERSISTENT},

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 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("Mapbox 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

@@ -53,6 +53,9 @@ 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:
       try:
         self.mapbox_token = Api(self.params.get("DongleId", encoding='utf8')).get_token(expiry_hours=4 * 7 * 24)

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},
   };