maps: split

selfdrive/navd/map_renderer.cc

@@ -8,7 +8,11 @@
 #include "common/util.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/maps/sp_priv_map_helpers.h"
+#else
 #include "selfdrive/ui/qt/maps/map_helpers.h"
+#endif
 
 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
 const int HEIGHT = 256, WIDTH = 256;

selfdrive/ui/SConscript

@@ -18,10 +18,11 @@ if arch == "Darwin":
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
 sp_widgets_src = []
+sp_maps_widgets_src = []
 sp_qt_src = []
 if GetOption('sunnypilot'):
   SConscript(['sunnypilot/SConscript'])
-  Import('sp_widgets_src', 'sp_qt_src')
+  Import('sp_widgets_src', 'sp_maps_widgets_src', 'sp_qt_src')
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
 widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
@@ -34,7 +35,7 @@ qt_env['CPPDEFINES'] = ["SUNNYPILOT"] if GetOption('sunnypilot') else []
 if maps:
   base_libs += ['QMapLibre']
   widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
-                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
+                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"] + sp_maps_widgets_src
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)

selfdrive/ui/qt/maps/map.cc

@@ -75,7 +75,7 @@ void MapWindow::initLayers() {
 
     QVariantMap transition;
     transition["duration"] = 400;  // ms
-    m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot_deprecated));
+    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
     m_map->setPaintProperty("navLayer", "line-color-transition", transition);
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
@@ -110,52 +110,10 @@ 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")) && uiState()->scene.map_3d_buildings) {  // Could put this behind the cellular metered toggle in case it increases data usage
-    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("buildingsLayer", buildings);
-    m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
-
-    QVariantList fillExtrusionHeight = {  // scale buildings as you zoom in
-      "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, // transparent at zoom level 15
-      15.5, .6, // fade in
-      17, .6, // begin fading out
-      20, 0 // fade out when zoomed in
-    };
-
-    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey"));
-    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity);
-    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHeight);
-    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase);
-    m_map->setLayoutProperty("buildingsLayer", "visibility", "visible");
-  }
 }
 
 void MapWindow::updateState(const UIState &s) {
+#ifdef SUNNYPILOT
   if (!uiState()->scene.started) {
     return;
   }
@@ -169,22 +127,7 @@ void MapWindow::updateState(const UIState &s) {
     initializeGL();
   }
   prev_time_valid = sm.valid("clocks");
-
-  if (sm.updated("modelV2")) {
-    // set path color on change, and show map on rising edge of navigate on openpilot
-    auto car_control = sm["carControl"].getCarControl();
-    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabledDEPRECATED() &&
-                       (sm["controlsState"].getControlsState().getEnabled() || car_control.getLatActive() || car_control.getLongActive());
-    if (nav_enabled != uiState()->scene.navigate_on_openpilot_deprecated) {
-      if (loaded_once) {
-        m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
-      }
-      if (nav_enabled) {
-        emit requestVisible(true);
-      }
-    }
-    uiState()->scene.navigate_on_openpilot_deprecated = nav_enabled;
-  }
+#endif
 
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -425,7 +368,6 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
 void MapWindow::offroadTransition(bool offroad) {
   if (offroad) {
     clearRoute();
-    uiState()->scene.navigate_on_openpilot_deprecated = false;
     routing_problem = false;
   } else {
     auto dest = coordinate_from_param("NavDestination");

selfdrive/ui/qt/maps/map.h

@@ -32,15 +32,17 @@ public:
   ~MapWindow();
 
 private:
-  void initializeGL() final;
   void paintGL() final;
   void resizeGL(int w, int h) override;
 
+protected:
+  void initializeGL() final;
   QMapLibre::Settings m_settings;
   QScopedPointer<QMapLibre::Map> m_map;
 
   void initLayers();
 
+private:
   void mousePressEvent(QMouseEvent *ev) final;
   void mouseDoubleClickEvent(QMouseEvent *ev) final;
   void mouseMoveEvent(QMouseEvent *ev) final;
@@ -50,9 +52,11 @@ private:
   void pinchTriggered(QPinchGesture *gesture);
   void setError(const QString &err_str);
 
+protected:
   bool loaded_once = false;
   bool prev_time_valid = true;
 
+private:
   // Panning
   QPointF m_lastPos;
   int interaction_counter = 0;
@@ -70,16 +74,11 @@ private:
   MapInstructions* map_instructions;
   MapETA* map_eta;
 
-  // Blue with normal nav, green when nav is input into the model
-  QColor getNavPathColor(bool nav_enabled) {
-    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
-  }
-
   void clearRoute();
   void updateDestinationMarker();
   uint64_t route_rcv_frame = 0;
 
-private slots:
+protected slots:
   void updateState(const UIState &s);
 
 public slots:

selfdrive/ui/qt/maps/map_helpers.h

@@ -12,9 +12,8 @@
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
 #include "cereal/messaging/messaging.h"
-#include "common/params.h"
 
-const QString MAPBOX_TOKEN = QString::fromStdString(Params().get("CustomMapboxTokenSk")) != "" ? QString::fromStdString(Params().get("CustomMapboxTokenSk")) : util::getenv("MAPBOX_TOKEN").c_str();
+const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
 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/sunnypilot/SConscript

@@ -22,6 +22,10 @@ widgets_src = [
   "sunnypilot/qt/widgets/sp_priv_toggle.cc"
 ]
 
+sp_maps_widgets_src = [
+  "sunnypilot/qt/maps/sp_priv_map.cc"
+]
+
 network_src = [
   "sunnypilot/qt/network/sunnylink/sp_priv_sunnylink_client.cc",
   "sunnypilot/qt/network/sunnylink/services/sp_priv_base_device_service.cc",
@@ -45,4 +49,4 @@ qt_src = [
 sp_widgets_src = widgets_src + network_src
 sp_qt_src = qt_src
 
-Export('sp_widgets_src', 'sp_qt_src')
+Export('sp_widgets_src', 'sp_maps_widgets_src', 'sp_qt_src')

selfdrive/ui/sunnypilot/qt/maps/sp_priv_map.cc

@@ -0,0 +1,95 @@
+#include "selfdrive/ui/sunnypilot/qt/maps/sp_priv_map.h"
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/maps/sp_priv_map_helpers.h"
+
+void MapWindowSP::initLayers() {
+  if (!m_map->layerExists("navLayer")) {
+    m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot_deprecated));
+  }
+  if ((!m_map->layerExists("buildingsLayer")) && uiState()->scene.map_3d_buildings) {  // Could put this behind the cellular metered toggle in case it increases data usage
+    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("buildingsLayer", buildings);
+    m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"}));
+
+    QVariantList fillExtrusionHeight = {  // scale buildings as you zoom in
+      "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, // transparent at zoom level 15
+      15.5, .6, // fade in
+      17, .6, // begin fading out
+      20, 0 // fade out when zoomed in
+    };
+
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey"));
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity);
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHeight);
+    m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase);
+    m_map->setLayoutProperty("buildingsLayer", "visibility", "visible");
+  }
+}
+
+void MapWindowSP::updateState(const UIState &s) {
+  if (!uiState()->scene.started) {
+    return;
+  }
+  const SubMaster &sm = *(s.sm);
+  update();
+
+  // on rising edge of a valid system time, reinitialize the map to set a new token
+  if (sm.valid("clocks") && !prev_time_valid) {
+    LOGW("Time is now valid, reinitializing map");
+    m_settings.setApiKey(get_mapbox_token());
+    initializeGL();
+  }
+  prev_time_valid = sm.valid("clocks");
+
+  if (sm.updated("modelV2")) {
+    // set path color on change, and show map on rising edge of navigate on openpilot
+    auto car_control = sm["carControl"].getCarControl();
+    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabledDEPRECATED() &&
+                       (sm["controlsState"].getControlsState().getEnabled() || car_control.getLatActive() || car_control.getLongActive());
+    if (nav_enabled != uiState()->scene.navigate_on_openpilot_deprecated) {
+      if (loaded_once) {
+        m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
+      }
+      if (nav_enabled) {
+        emit requestVisible(true);
+      }
+    }
+    uiState()->scene.navigate_on_openpilot_deprecated = nav_enabled;
+  }
+
+  MapWindow::initLayers();
+}
+
+void MapWindowSP::offroadTransition(bool offroad) {
+  if (offroad) {
+    uiState()->scene.navigate_on_openpilot_deprecated = false;
+  }
+
+  MapWindow::offroadTransition(offroad);
+}

selfdrive/ui/sunnypilot/qt/maps/sp_priv_map.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "selfdrive/ui/qt/maps/map.h"
+
+#include <QColor>
+
+class MapWindowSP : public MapWindow {
+  Q_OBJECT
+
+public:
+  explicit MapWindowSP(const QMapLibre::Settings &settings) : MapWindow(settings) {}
+
+private:
+  void initLayers();
+  // Blue with normal nav, green when nav is input into the model
+  QColor getNavPathColor(bool nav_enabled) {
+    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
+  }
+
+protected slots:
+  void updateState(const UIState &s);
+
+public slots:
+  void offroadTransition(bool offroad);
+};

selfdrive/ui/sunnypilot/qt/maps/sp_priv_map_helpers.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+
+#define MAPBOX_TOKEN MAPBOX_TOKEN_SP
+#define MAPS_HOST MAPS_HOST_SP
+
+#include "common/params.h"
+
+const QString MAPBOX_TOKEN = QString::fromStdString(Params().get("CustomMapboxTokenSk")) != "" ?
+                             QString::fromStdString(Params().get("CustomMapboxTokenSk")) : util::getenv("MAPBOX_TOKEN").c_str();
+const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();