navd: add back VisionIPC map renderer (#25212)

* builds standalone

* process live msg

* render into nv12a

* VISION_STREAM_RGB_MAP -> VISION_STREAM_MAP

* cleanup sconscript

* main include cleanup

selfdrive/navd/SConscript

@@ -0,0 +1,20 @@
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations')
+
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == 'larch64':
+  base_libs.append('EGL')
+
+if arch in ['larch64', 'x86_64']:
+  if arch == 'x86_64':
+    rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
+    qt_env["RPATH"] += rpath
+
+  qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
+
+  nav_src = ["main.cc", "map_renderer.cc"]
+  qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
+
+  if GetOption('extras'):
+    qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])