test: add tici onroad navigation panel

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.long_indicator import LongIndicator
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
-from openpilot.selfdrive.ui.mici.onroad.navigation import NavigationPanel, PANEL_WIDTH
+from openpilot.selfdrive.ui.onroad.navigation import NavigationPanel, PANEL_WIDTH
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical

openpilot/selfdrive/ui/onroad/augmented_road_view.py

@@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.navigation import NavigationPanel
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
@@ -56,6 +57,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     self._hud_renderer = HudRenderer()
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
+    self.navigation_panel = NavigationPanel()
 
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
@@ -91,6 +93,15 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     self.model_renderer.render(self._content_rect)
     AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
     self._hud_renderer.render(self._content_rect)
+    if ui_state.navigation_enabled and ui_state.nav_destination_set:
+      panel_width = min(380.0, self._content_rect.width * 0.32)
+      panel_height = min(620.0, self._content_rect.height * 0.70)
+      self.navigation_panel.render(rl.Rectangle(
+        self._content_rect.x + self._content_rect.width - panel_width - 24,
+        self._content_rect.y + (self._content_rect.height - panel_height) / 2,
+        panel_width,
+        panel_height,
+      ))
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
 

openpilot/selfdrive/ui/onroad/navigation.py

@@ -6,13 +6,13 @@ from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.common.constants import CV
 from openpilot.selfdrive.navigation.helpers import latest_gps_source
 from openpilot.selfdrive.navigation.renderer import EGO, ROUTE_INTENSITY, SIZE
-from openpilot.selfdrive.ui.mici.onroad.cameraview import CONNECTION_RETRY_INTERVAL
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import FontWeight, TextAlignmentVertical
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 
 PANEL_WIDTH = 261
+CONNECTION_RETRY_INTERVAL = 1.0
 STALE_SECONDS = 3
 MARKER_MARGIN = 18  # pixels kept below the ego so its marker stays visible