nav

scripts/launch_onroad_desktop.sh

@@ -27,18 +27,20 @@ env_var_truthy() {
 usage() {
   cat <<'EOF'
 Usage:
-  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [--prefix name] <route-or-replay-args...>
+  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--prefix name] <route-or-replay-args...>
 
 Examples:
-  ./onroad --c3 f08912a233c1584f/2022-08-11--18-02-41/1
-  ./onroad --c4 f08912a233c1584f/2022-08-11--18-02-41/1 --start 30
-  ./onroad --all f08912a233c1584f/2022-08-11--18-02-41/1
+  ./onroad --c3 <route>
+  ./onroad --c4 <route> --start 30
+  ./onroad --c4 -nav <route>
+  ./onroad --all <route>
   ./onroad --replay-only --demo --no-vipc --no-loop
 
 Notes:
   - This is host/dev only. It uses the isolated host worktree and does not touch the device path.
   - A private comma connect route still requires tools/lib/auth.py before replay can download it.
   - Use multiple UI flags together if you want more than one desktop UI at once.
+  - -nav injects a fake navigation demo stream and blocks replay from publishing navInstruction/navRoute.
 EOF
 }
 
@@ -53,7 +55,9 @@ REPLAY_ARGS=()
 UI_TARGETS=()
 LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
+NAV_DEMO=0
 REPLAY_PID=""
+NAV_PID=""
 UI_PIDS=()
 
 parse_args() {
@@ -83,6 +87,10 @@ parse_args() {
         REPLAY_ONLY=1
         shift
         ;;
+      -nav|--nav)
+        NAV_DEMO=1
+        shift
+        ;;
       --ui)
         if [[ $# -lt 2 ]]; then
           echo "Missing value for --ui" >&2
@@ -194,6 +202,9 @@ cleanup() {
   if [[ -n "${REPLAY_PID}" ]]; then
     kill "${REPLAY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${NAV_PID}" ]]; then
+    kill "${NAV_PID}" >/dev/null 2>&1 || true
+  fi
 
   for pid in "${UI_PIDS[@]-}"; do
     if [[ -n "${pid}" ]]; then
@@ -203,6 +214,9 @@ cleanup() {
   if [[ -n "${REPLAY_PID}" ]]; then
     wait "${REPLAY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${NAV_PID}" ]]; then
+    wait "${NAV_PID}" >/dev/null 2>&1 || true
+  fi
 
   if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
     echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -214,6 +228,68 @@ cleanup() {
   exit "${exit_code}"
 }
 
+append_blocked_service_names() {
+  local existing="$1"
+  local required="$2"
+  local combined="${existing}"
+
+  if [[ -n "${combined}" ]]; then
+    combined+=",${required}"
+  else
+    combined="${required}"
+  fi
+
+  local deduped=()
+  local seen=","
+  local part=""
+  local parts=()
+  IFS=',' read -r -a parts <<< "${combined}"
+  for part in "${parts[@]-}"; do
+    part="${part// /}"
+    if [[ -z "${part}" ]]; then
+      continue
+    fi
+    if [[ "${seen}" != *",${part},"* ]]; then
+      deduped+=("${part}")
+      seen+="${part},"
+    fi
+  done
+
+  local joined=""
+  for part in "${deduped[@]-}"; do
+    if [[ -n "${joined}" ]]; then
+      joined+=","
+    fi
+    joined+="${part}"
+  done
+
+  printf '%s' "${joined}"
+}
+
+ensure_nav_demo_replay_blocklist() {
+  local nav_services="navInstruction,navRoute"
+  local idx=0
+
+  for ((idx=0; idx<${#REPLAY_ARGS[@]}; idx++)); do
+    case "${REPLAY_ARGS[$idx]}" in
+      -b|--block)
+        if (( idx + 1 >= ${#REPLAY_ARGS[@]} )); then
+          echo "Missing value for ${REPLAY_ARGS[$idx]}" >&2
+          exit 1
+        fi
+        REPLAY_ARGS[$((idx + 1))]="$(append_blocked_service_names "${REPLAY_ARGS[$((idx + 1))]}" "${nav_services}")"
+        return
+        ;;
+      --block=*)
+        REPLAY_ARGS[$idx]="--block=$(append_blocked_service_names "${REPLAY_ARGS[$idx]#*=}" "${nav_services}")"
+        return
+        ;;
+    esac
+  done
+
+  REPLAY_ARGS=(-b "${nav_services}" "${REPLAY_ARGS[@]}")
+}
+
 prepare_env() {
   source .venv/bin/activate
 
@@ -238,6 +314,7 @@ prepare_env() {
   export SP_C4_FAKE_WIFI=0
   export SP_RAYBIG_FAKE_WIFI=0
   export SP_ALLOW_DESKTOP_FAKE_WIFI=0
+  export SP_ONROAD_NAV_DEMO="${NAV_DEMO}"
 
   if [[ "$(uname -s)" == "Darwin" ]] || env_var_truthy "${ZMQ:-0}"; then
     export OPENPILOT_ZMQ_NAMESPACE="${PREFIX_ARG:-${OPENPILOT_ZMQ_NAMESPACE:-desktop-onroad-$$}}"
@@ -250,6 +327,8 @@ prepare_env() {
 
 seed_params() {
   "${ROOT_DIR}/.venv/bin/python3" - <<'PY'
+import os
+
 from openpilot.common.params import Params
 from openpilot.system.version import terms_version, training_version
 
@@ -260,6 +339,8 @@ params.put_bool("OpenpilotEnabledToggle", True)
 params.put_bool("IsDriverViewEnabled", False)
 params.put_bool("ForceOnroad", False)
 params.put_bool("ForceOffroad", False)
+if os.getenv("SP_ONROAD_NAV_DEMO", "").lower() in {"1", "true", "yes", "on"}:
+  params.put_bool("NavigationUI", True)
 PY
 }
 
@@ -302,6 +383,18 @@ launch_replay() {
   fi
 }
 
+launch_nav_demo() {
+  echo "Starting fake nav demo publisher..."
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_nav_demo.py" &
+  NAV_PID=$!
+
+  sleep 0.5
+  if ! kill -0 "${NAV_PID}" >/dev/null 2>&1; then
+    wait "${NAV_PID}"
+    return 1
+  fi
+}
+
 launch_c3_ui() {
   local os_ext="linux"
   if [[ "$(uname -s)" == "Darwin" ]]; then
@@ -339,6 +432,10 @@ else
   dedupe_ui_targets
 fi
 
+if [[ "${NAV_DEMO}" == "1" ]]; then
+  ensure_nav_demo_replay_blocklist
+fi
+
 if [[ ${#REPLAY_ARGS[@]} -eq 0 ]]; then
   usage >&2
   exit 1
@@ -378,6 +475,10 @@ seed_starpilot_theme
 echo "Starting replay: ${REPLAY_ARGS[*]}"
 launch_replay
 
+if [[ "${NAV_DEMO}" == "1" ]]; then
+  launch_nav_demo
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
   echo "Replay is running without UI windows. Press Ctrl-C to stop."
   wait "${REPLAY_PID}"