Fetch mapbox token from API (#21136)

* delay widget creation until going onroad

* let athena fetch mapbox token

* only tici

* add token

* cleaner

* rename slots

* that was missing
old-commit-hash: 21be4434998476669c807c3d1ba9b25c1cbc495f

selfdrive/athena/athenad.py

@@ -25,7 +25,7 @@ from common.api import Api
 from common.basedir import PERSIST
 from common.params import Params
 from common.realtime import sec_since_boot
-from selfdrive.hardware import HARDWARE, PC
+from selfdrive.hardware import HARDWARE, PC, TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
@@ -450,6 +450,21 @@ def backoff(retries):
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
+def manage_tokens(api):
+  if not TICI:
+    return
+
+  try:
+    params = Params()
+    mapbox = api.get(f"/v1/tokens/mapbox/{api.dongle_id}/", timeout=5.0, access_token=api.get_token())
+    if mapbox.status_code == 200:
+      params.put("MapboxToken", mapbox.json()["token"])
+    else:
+      params.delete("MapboxToken")
+  except Exception:
+    cloudlog.exception("Failed to update tokens")
+
+
 def main():
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf-8')
@@ -465,8 +480,11 @@ def main():
                              cookie="jwt=" + api.get_token(),
                              enable_multithread=True,
                              timeout=1.0)
-      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
       ws.settimeout(1)
+      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+
+      manage_tokens(api)
+
       conn_retries = 0
       handle_long_poll(ws)
     except (KeyboardInterrupt, SystemExit):

selfdrive/ui/qt/home.cc

@@ -31,7 +31,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(onroad);
 
   QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::update);
-  QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransition);
+  QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransitionSignal);
 
   home = new OffroadHome();
   slayout->addWidget(home);
@@ -50,9 +50,6 @@ void HomeWindow::offroadTransition(bool offroad) {
   if (offroad) {
     slayout->setCurrentWidget(home);
   } else {
-    if (onroad->map != nullptr){
-      onroad->map->setVisible(!Params().get("NavDestination").empty());
-    }
     slayout->setCurrentWidget(onroad);
   }
   sidebar->setVisible(offroad);
@@ -72,6 +69,8 @@ void HomeWindow::showDriverView(bool show) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if (onroad->isVisible() && (!sidebar->isVisible() || e->x() > sidebar->width())) {
+
+    // TODO: Handle this without exposing pointer to map widget
     // Hide map first if visible, then hide sidebar
     if (onroad->map != nullptr && onroad->map->isVisible()){
       onroad->map->setVisible(false);

selfdrive/ui/qt/maps/map.cc

@@ -31,6 +31,10 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
   timer = new QTimer(this);
   QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
 
+  recompute_timer = new QTimer(this);
+  recompute_timer->start(1000);
+  QObject::connect(recompute_timer, SIGNAL(timeout()), this, SLOT(recomputeRoute()));
+
   // Instructions
   map_instructions = new MapInstructions(this);
   connect(this, SIGNAL(instructionsChanged(QMap<QString, QVariant>)),
@@ -153,18 +157,6 @@ void MapWindow::timerUpdate() {
       }
     }
 
-    // Recompute route if needed
-    if (sm->frame % 10 == 0) {
-      if (recompute_countdown == 0 && shouldRecompute()) {
-        recompute_countdown = std::pow(2, recompute_backoff);
-        recompute_backoff = std::min(7, recompute_backoff + 1);
-        calculateRoute(nav_destination);
-      } else {
-        recompute_countdown = std::max(0, recompute_countdown - 1);
-      }
-    }
-
-
     // Show route instructions
     if (segment.isValid()) {
       auto cur_maneuver = segment.maneuver();
@@ -244,7 +236,36 @@ void MapWindow::paintGL() {
 }
 
 
+void MapWindow::recomputeRoute() {
+  bool should_recompute = shouldRecompute();
+  auto new_destination = coordinate_from_param("NavDestination");
+
+  if (!new_destination) {
+    clearRoute();
+    return;
+  }
+
+  if (*new_destination != nav_destination){
+    setVisible(true); // Show map on destination set/change
+    should_recompute = true;
+  }
+
+  if (!gps_ok && segment.isValid()) return; // Don't recompute when gps drifts in tunnels
+
+  // Only do API request when map is loaded
+  if (!m_map.isNull()) {
+    if (recompute_countdown == 0 && should_recompute) {
+      recompute_countdown = std::pow(2, recompute_backoff);
+      recompute_backoff = std::min(7, recompute_backoff + 1);
+      calculateRoute(*new_destination);
+    } else {
+      recompute_countdown = std::max(0, recompute_countdown - 1);
+    }
+  }
+}
+
 void MapWindow::calculateRoute(QMapbox::Coordinate destination) {
+  nav_destination = destination;
   QGeoRouteRequest request(to_QGeoCoordinate(last_position), to_QGeoCoordinate(destination));
   request.setFeatureWeight(QGeoRouteRequest::TrafficFeature, QGeoRouteRequest::AvoidFeatureWeight);
   routing_manager->calculateRoute(request);
@@ -269,27 +290,17 @@ void MapWindow::routeCalculated(QGeoRouteReply *reply) {
 }
 
 void MapWindow::clearRoute() {
-  segment = QGeoRouteSegment(); // Clear route
-  m_map->setLayoutProperty("navLayer", "visibility", "none");
-  m_map->setPitch(MIN_PITCH);
+  segment = QGeoRouteSegment();
+  nav_destination = QMapbox::Coordinate();
+
+  if (!m_map.isNull()) {
+    m_map->setLayoutProperty("navLayer", "visibility", "none");
+    m_map->setPitch(MIN_PITCH);
+  }
 }
 
 
 bool MapWindow::shouldRecompute(){
-  auto new_destination = coordinate_from_param("NavDestination");
-  if (!new_destination) {
-    clearRoute();
-    return false;
-  }
-
-  if (!gps_ok && segment.isValid()) return false; // Don't recompute when gps drifts in tunnels
-
-  if (*new_destination != nav_destination){
-    nav_destination = *new_destination;
-    setVisible(true); // Show map on destination set/change
-    return true;
-  }
-
   if (!segment.isValid()){
     return true;
   }
@@ -301,6 +312,9 @@ bool MapWindow::shouldRecompute(){
   for (size_t i = 0; i < path.size() - 1; i++){
     auto a = path[i];
     auto b = path[i+1];
+    if (a.distanceTo(b) < 1.0) {
+      continue;
+    }
     min_d = std::min(min_d, minimum_distance(a, b, cur));
   }
   return min_d > REROUTE_DISTANCE;
@@ -364,6 +378,13 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
   }
 }
 
+void MapWindow::offroadTransition(bool offroad) {
+  if (!offroad) {
+    auto dest = coordinate_from_param("NavDestination");
+    setVisible(dest.has_value());
+  }
+}
+
 MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent){
   QHBoxLayout *layout_outer = new QHBoxLayout;
   layout_outer->setContentsMargins(11, 50, 11, 11);

selfdrive/ui/qt/maps/map.h

@@ -68,6 +68,7 @@ private:
   double last_maneuver_distance = 1000;
 
   // Route recompute
+  QTimer* recompute_timer;
   int recompute_backoff = 0;
   int recompute_countdown = 0;
   void calculateRoute(QMapbox::Coordinate destination);
@@ -77,6 +78,10 @@ private:
 private slots:
   void timerUpdate();
   void routeCalculated(QGeoRouteReply *reply);
+  void recomputeRoute();
+
+public slots:
+  void offroadTransition(bool offroad);
 
 signals:
   void distanceChanged(float distance);

selfdrive/ui/qt/onroad.cc

@@ -19,22 +19,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   nvg = new NvgWindow(this);
   QObject::connect(this, &OnroadWindow::update, nvg, &NvgWindow::update);
 
-  QHBoxLayout* split = new QHBoxLayout();
+  split = new QHBoxLayout();
   split->setContentsMargins(0, 0, 0, 0);
   split->setSpacing(0);
   split->addWidget(nvg);
 
-#ifdef ENABLE_MAPS
-  QString token = QString::fromStdString(Params().get("MapboxToken"));
-  if (!token.isEmpty()){
-    QMapboxGLSettings settings;
-    settings.setCacheDatabasePath("/tmp/mbgl-cache.db");
-    settings.setCacheDatabaseMaximumSize(20 * 1024 * 1024);
-    settings.setAccessToken(token.trimmed());
-    map = new MapWindow(settings);
-    split->addWidget(map);
-  }
-#endif
 
   QWidget * split_wrapper = new QWidget;
   split_wrapper->setLayout(split);
@@ -43,7 +32,8 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts = new OnroadAlerts(this);
   alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
   QObject::connect(this, &OnroadWindow::update, alerts, &OnroadAlerts::updateState);
-  QObject::connect(this, &OnroadWindow::offroadTransition, alerts, &OnroadAlerts::offroadTransition);
+  QObject::connect(this, &OnroadWindow::offroadTransitionSignal, alerts, &OnroadAlerts::offroadTransition);
+  QObject::connect(this, &OnroadWindow::offroadTransitionSignal, this, &OnroadWindow::offroadTransition);
   layout->addWidget(alerts);
 
   // setup stacking order
@@ -53,6 +43,28 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
 }
 
+
+void OnroadWindow::offroadTransition(bool offroad) {
+#ifdef ENABLE_MAPS
+  if (!offroad) {
+    QString token = QString::fromStdString(Params().get("MapboxToken"));
+    if (map == nullptr && !token.isEmpty()){
+      QMapboxGLSettings settings;
+      settings.setCacheDatabasePath("/data/mbgl-cache.db");
+      settings.setCacheDatabaseMaximumSize(20 * 1024 * 1024);
+      settings.setAccessToken(token.trimmed());
+
+      MapWindow * m = new MapWindow(settings);
+      QObject::connect(this, &OnroadWindow::offroadTransitionSignal, m, &MapWindow::offroadTransition);
+      split->addWidget(m);
+
+      map = m;
+    }
+
+  }
+#endif
+}
+
 // ***** onroad widgets *****
 
 OnroadAlerts::OnroadAlerts(QWidget *parent) : QWidget(parent) {

selfdrive/ui/qt/onroad.h

@@ -87,8 +87,12 @@ private:
   OnroadAlerts *alerts;
   NvgWindow *nvg;
   QStackedLayout *layout;
+  QHBoxLayout* split;
 
 signals:
   void update(const UIState &s);
+  void offroadTransitionSignal(bool offroad);
+
+private slots:
   void offroadTransition(bool offroad);
 };