Migrate otisserv to pub (#205)

Migrate otisserv to pub

selfdrive/navd/otisserv.py

@@ -0,0 +1,420 @@
+#!/usr/bin/env python3.8
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from cgi import parse_header, parse_multipart
+from urllib.parse import parse_qs, unquote
+import json
+import requests
+import math
+from common.basedir import BASEDIR
+from common.params import Params
+params = Params()
+
+hostName = ""
+serverPort = 8082
+
+pi = 3.1415926535897932384626
+x_pi = 3.14159265358979324 * 3000.0 / 180.0
+a = 6378245.0
+ee = 0.00669342162296594323
+
+
+class OtisServ(BaseHTTPRequestHandler):
+  def do_GET(self):
+    use_amap = params.get_bool("EnableAmap")
+    use_gmap = not use_amap and params.get_bool("EnableGmap")
+
+    if self.path == '/logo.png':
+      self.get_logo()
+      return
+    if self.path == '/?reset=1':
+      params.put("NavDestination", "")
+    if use_amap:
+      if self.path == '/style.css':
+        self.send_response(200)
+        self.send_header("Content-type", "text/css")
+        self.end_headers()
+        self.get_amap_css()
+        return
+      elif self.path == '/index.js':
+        self.send_response(200)
+        self.send_header("Content-type", "text/javascript")
+        self.end_headers()
+        self.get_amap_js()
+        return
+      else:
+        self.send_response(200)
+        self.send_header("Content-type", "text/html")
+        self.end_headers()
+        if self.get_amap_key() is None or self.get_amap_key_2() is None:
+          self.display_page_amap_key()
+          return
+        if self.get_app_token() is None:
+          self.display_page_app_token()
+          return
+        self.display_page_amap()
+    elif use_gmap:
+      if self.path == '/style.css':
+        self.send_response(200)
+        self.send_header("Content-type", "text/css")
+        self.end_headers()
+        self.get_gmap_css()
+        return
+      elif self.path == '/index.js':
+        self.send_response(200)
+        self.send_header("Content-type", "text/javascript")
+        self.end_headers()
+        self.get_gmap_js()
+        return
+      else:
+        self.send_response(200)
+        self.send_header("Content-type", "text/html")
+        self.end_headers()
+        if self.get_gmap_key() is None:
+          self.display_page_gmap_key()
+          return
+        if self.get_app_token() is None:
+          self.display_page_app_token()
+          return
+        self.display_page_gmap()
+    else:
+      self.send_response(200)
+      self.send_header("Content-type", "text/html")
+      self.end_headers()
+      if self.get_public_token() is None:
+        self.display_page_public_token()
+        return
+      if self.get_app_token() is None:
+        self.display_page_app_token()
+        return
+      self.display_page_addr_input()
+
+  def do_POST(self):
+    use_amap = params.get_bool("EnableAmap")
+    use_gmap = not use_amap and params.get_bool("EnableGmap")
+
+    postvars = self.parse_POST()
+    self.send_response(200)
+    self.send_header("Content-type", "text/html")
+    self.end_headers()
+
+    if use_amap:
+      # amap token
+      if self.get_amap_key() is None or self.get_amap_key_2() is None:
+        if postvars is None or \
+                ("amap_key_val" not in postvars or postvars.get("amap_key_val")[0] == "") or \
+                ("amap_key_val_2" not in postvars or postvars.get("amap_key_val_2")[0] == ""):
+          self.display_page_amap_key()
+          return
+        params.put("AmapKey1", postvars.get("amap_key_val")[0])
+        params.put("AmapKey2", postvars.get("amap_key_val_2")[0])
+
+    elif use_gmap:
+      # gmap token
+      if self.get_gmap_key() is None:
+        if postvars is None or "gmap_key_val" not in postvars or postvars.get("gmap_key_val")[0] == "":
+          self.display_page_gmap_key()
+          return
+        params.put("GmapKey", postvars.get("gmap_key_val")[0])
+
+    else:
+      # mapbox public key
+      if self.get_public_token() is None:
+        if postvars is None or "pk_token_val" not in postvars or postvars.get("pk_token_val")[0] == "":
+          self.display_page_public_token()
+          return
+        token = postvars.get("pk_token_val")[0]
+        if "pk." not in token:
+          self.display_page_public_token("Your token was incorrect!")
+          return
+        params.put('CustomMapboxTokenPk', token)
+
+    # app key
+    if self.get_app_token() is None:
+      if postvars is None or "sk_token_val" not in postvars or postvars.get("sk_token_val")[0] == "":
+        self.display_page_app_token()
+        return
+      token = postvars.get("sk_token_val")[0]
+      if "sk." not in token:
+        self.display_page_app_token("Your token was incorrect!")
+        return
+      params.put('CustomMapboxTokenSk', token)
+
+    # nav confirmed
+    if postvars is not None:
+      if "lat" in postvars and postvars.get("lat")[0] != "" and "lon" in postvars and postvars.get("lon")[0] != "":
+        lat = float(postvars.get("lat")[0])
+        lng = float(postvars.get("lon")[0])
+        save_type = postvars.get("save_type")[0]
+        name = postvars.get("name")[0] if postvars.get("name") is not None else ""
+        if use_amap:
+          lng, lat = self.gcj02towgs84(lng, lat)
+        params.put('NavDestination', "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name))
+        self.to_json(lat, lng, save_type, name)
+      # favorites
+      if not use_gmap and "fav_val" in postvars:
+        addr = postvars.get("fav_val")[0]
+        real_addr = None
+        lon = None
+        lat = None
+        if addr != "favorites":
+          val = params.get("ApiCache_NavDestinations", encoding='utf8')
+          if val is not None:
+            val = val.rstrip('\x00')
+            dests = json.loads(val)
+            for item in dests:
+              if "label" in item and item["label"] == addr:
+                lat = item["latitude"]
+                lon = item["longitude"]
+                real_addr = item["place_name"]
+                break
+            else:
+              real_addr = None
+          if real_addr is not None:
+            self.display_page_nav_confirmation(real_addr, lon, lat)
+            return
+          else:
+            self.display_page_addr_input("Place Not Found")
+            return
+      # search
+      if not use_gmap and "addr_val" in postvars:
+        addr = postvars.get("addr_val")[0]
+        if addr != "":
+          real_addr, lat, lon = self.query_addr(addr)
+          if real_addr is not None:
+            self.display_page_nav_confirmation(real_addr, lon, lat)
+            return
+          else:
+            self.display_page_addr_input("Place Not Found")
+            return
+    if use_amap:
+      self.display_page_amap()
+    elif use_gmap:
+      self.display_page_gmap()
+    else:
+      self.display_page_addr_input()
+
+  def get_logo(self):
+    self.send_response(200)
+    self.send_header('Content-type','image/png')
+    self.end_headers()
+    f = open("%s/selfdrive/assets/img_spinner_comma.png" % BASEDIR, "rb")
+    self.wfile.write(f.read())
+    f.close()
+
+  def get_gmap_css(self):
+    self.wfile.write(bytes(self.get_parsed_template("gmap/style.css"), "utf-8"))
+
+  def get_gmap_js(self):
+    lon, lat = self.get_last_lon_lat()
+    self.wfile.write(bytes(self.get_parsed_template("gmap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8"))
+
+  def get_gmap_key(self):
+    token = params.get("GmapKey", encoding='utf8')
+    if token is not None and token != "":
+      return token.rstrip('\x00')
+    return None
+
+  def get_amap_css(self):
+    self.wfile.write(bytes(self.get_parsed_template("amap/style.css"), "utf-8"))
+
+  def get_amap_js(self):
+    lon, lat = self.get_last_lon_lat()
+    self.wfile.write(bytes(self.get_parsed_template("amap/index.js", {"{{lat}}": lat, "{{lon}}": lon}), "utf-8"))
+
+  def get_amap_key(self):
+    token = params.get("AmapKey1", encoding='utf8')
+    if token is not None and token != "":
+      return token.rstrip('\x00')
+    return None
+
+  def get_amap_key_2(self):
+    token = params.get("AmapKey2", encoding='utf8')
+    if token is not None and token != "":
+      return token.rstrip('\x00')
+    return None
+
+  def get_public_token(self):
+    token = params.get("CustomMapboxTokenPk", encoding='utf8')
+    if token is not None and token != "":
+      return token.rstrip('\x00')
+    return None
+
+  def get_app_token(self):
+    token = params.get("CustomMapboxTokenSk", encoding='utf8')
+    if token is not None and token != "":
+      return token.rstrip('\x00')
+    return None
+
+  def get_last_lon_lat(self):
+    last_pos = Params().get("LastGPSPosition")
+    if last_pos is not None and last_pos != "":
+      l = json.loads(last_pos)
+      return l["longitude"], l["latitude"]
+    return "", ""
+
+  def display_page_gmap_key(self):
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("gmap/key_input")}), "utf-8"))
+
+  def display_page_amap_key(self):
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("amap/key_input")}), "utf-8"))
+
+  def display_page_public_token(self, msg = ""):
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("public_token_input", {"{{msg}}": msg})}), "utf-8"))
+
+  def display_page_app_token(self, msg = ""):
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("app_token_input", {"{{msg}}": msg})}), "utf-8"))
+
+  def display_page_addr_input(self, msg = ""):
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": self.get_parsed_template("addr_input", {"{{msg}}": msg})}), "utf-8"))
+
+  def display_page_nav_confirmation(self, addr, lon, lat):
+    content = self.get_parsed_template("addr_input", {"{{msg}}": ""}) + self.get_parsed_template("nav_confirmation", {"{{token}}": self.get_public_token(), "{{lon}}": lon, "{{lat}}": lat, "{{addr}}": addr})
+    self.wfile.write(bytes(self.get_parsed_template("body", {"{{content}}": content }), "utf-8"))
+
+  def display_page_gmap(self):
+    self.wfile.write(bytes(self.get_parsed_template("gmap/index.html", {"{{gmap_key}}": self.get_gmap_key()}), "utf-8"))
+
+  def display_page_amap(self):
+    self.wfile.write(bytes(self.get_parsed_template("amap/index.html", {"{{amap_key}}": self.get_amap_key(), "{{amap_key_2}}": self.get_amap_key_2()}), "utf-8"))
+
+  def get_parsed_template(self, name, replace = {}):
+    f = open('%s/selfdrive/navd/tpl/%s.tpl' % (BASEDIR, name), mode='r', encoding='utf-8')
+    content = f.read()
+    for key in replace:
+      content = content.replace(key, str(replace[key]))
+    f.close()
+    return content
+
+  def query_addr(self, addr):
+    if addr == "":
+      return None, None, None
+    query = "https://api.mapbox.com/geocoding/v5/mapbox.places/" + unquote(addr) + ".json?access_token=" + self.get_public_token() + "&limit=1"
+    # focus on place around last gps position
+    last_pos = Params().get("LastGPSPosition")
+    if last_pos is not None and last_pos != "":
+      l = json.loads(last_pos)
+      query += "&proximity=%s,%s" % (l["longitude"], l["latitude"])
+
+    r = requests.get(query)
+    if r.status_code != 200:
+      return None, None, None
+
+    j = json.loads(r.text)
+    if not j["features"]:
+      return None, None, None
+
+    feature = j["features"][0]
+    return feature["place_name"], feature["center"][1], feature["center"][0]
+
+  def parse_POST(self):
+    ctype, pdict = parse_header(self.headers['content-type'])
+    if ctype == 'application/x-www-form-urlencoded':
+      length = int(self.headers['content-length'])
+      postvars = parse_qs(
+        self.rfile.read(length).decode('utf-8'),
+        keep_blank_values=1)
+    else:
+      postvars = {}
+    return postvars
+
+  def gcj02towgs84(self, lng, lat):
+    dlat = self.transform_lat(lng - 105.0, lat - 35.0)
+    dlng = self.transform_lng(lng - 105.0, lat - 35.0)
+    radlat = lat / 180.0 * pi
+    magic = math.sin(radlat)
+    magic = 1 - ee * magic * magic
+    sqrtmagic = math.sqrt(magic)
+    dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi)
+    dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi)
+    mglat = lat + dlat
+    mglng = lng + dlng
+    return [lng * 2 - mglng, lat * 2 - mglat]
+
+  def transform_lat(self, lng, lat):
+    ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng))
+    ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0
+    ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0
+    ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0
+    return ret
+
+  def transform_lng(self, lng, lat):
+    ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng))
+    ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0
+    ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0
+    ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0
+    return ret
+
+  def to_json(self, lat, lng, type = "recent", name = ""):
+    if name == "":
+      name =  str(lat) + "," + str(lng)
+    new_dest = {"latitude": float(lat), "longitude": float(lng), "place_name": name}
+
+    if type == "recent":
+      new_dest["save_type"] = "recent"
+    else:
+      new_dest["save_type"] = "favorite"
+      new_dest["label"] = type
+
+    val = params.get("ApiCache_NavDestinations", encoding='utf8')
+    if val is not None:
+      val = val.rstrip('\x00')
+    dests = [] if val is None else json.loads(val)
+
+    # type idx
+    type_label_ids = {"home": None, "work": None, "fav1": None, "fav2": None, "fav3": None, "recent": []}
+    idx = 0
+    for d in dests:
+      if d["save_type"] == "favorite":
+        type_label_ids[d["label"]] = idx
+      else:
+        type_label_ids["recent"].append(idx)
+      idx += 1
+
+    if type == "recent":
+      id = None
+      if len(type_label_ids["recent"]) > 10:
+        dests.pop(type_label_ids["recent"][-1])
+    else:
+      id = type_label_ids[type]
+
+    if id is None:
+      dests.insert(0, new_dest)
+    else:
+      dests[id] = new_dest
+
+    params.put("ApiCache_NavDestinations", json.dumps(dests).rstrip("\n\r"))
+
+def main():
+  webServer = HTTPServer((hostName, serverPort), OtisServ)
+
+  try:
+    webServer.serve_forever()
+  except KeyboardInterrupt:
+    pass
+
+  webServer.server_close()
+
+if __name__ == "__main__":
+  main()

selfdrive/navd/tpl/addr_input.tpl

@@ -0,0 +1,16 @@
+<form name="searchForm" method="post">
+    <fieldset class="uk-fieldset">
+        <div class="uk-margin">
+            <select class="uk-select" name="fav_val">
+                <option value="favorites">Select Saved Destinations</option>
+                <option value="home">Home</option>
+                <option value="work">Work</option>
+                <option value="fav1">Favorite 1</option>
+                <option value="fav2">Favorite 2</option>
+                <option value="fav3">Favorite 3</option>
+            <div style="padding: 5px; color: red; font-weight: bold;" align="center">{{msg}}</div>
+            <input class="uk-input" type="text" name="addr_val" placeholder="Search a place">
+            <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="Search">
+        </div>
+    </fieldset>
+</form>

selfdrive/navd/tpl/amap/index.html.tpl

@@ -0,0 +1,47 @@
+<!doctype html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge">
+    <meta name="viewport" content="initial-scale=1.0, user-scalable=no, width=device-width">
+    <title>输入提示后查询</title>
+    <!-- UIkit CSS -->
+    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/css/uikit.min.css" />
+
+    <!-- UIkit JS -->
+    <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit-icons.min.js"></script>
+    <link rel="stylesheet" href="./style.css"/>
+    <script type="text/javascript">
+            window._AMapSecurityConfig = {
+                securityJsCode:'{{amap_key_2}}',
+            }
+    </script>
+    <script type="text/javascript"
+            src="https://webapi.amap.com/maps?v=1.4.2&key={{amap_key}}"></script>
+    <style type="text/css">
+        body {
+            font-size: 12px;
+        }
+    </style>
+</head>
+<body>
+  <div style="place-items: center; padding: 5px; font-weight: bold;" align="center"><a href="?reset=1"><img style="width: 100px; height: 100px; background-color: black;" src="logo.png"></a></div>
+  <div class="uk-grid-match uk-grid-small uk-text-center" uk-grid>
+    <div class="uk-width-1-3@m">
+      <select id="save_type" class="uk-select">
+        <option value="recent">最近</option>
+        <option value="home">住家</option>
+        <option value="work">工作</option>
+      </select>
+    </div>
+    <div class="uk-width-expand@m">
+      <input class="uk-input" type="text" id="keyword" name="keyword" placeholder="请输入关键字：(选定后搜索)" onfocus='this.value=""'/>
+    </div>
+  </div>
+  <input type="hidden" id="longitude" />
+  <input type="hidden" id="latitude" />
+  <div style="height: 80%" id="container"></div>
+  <script src="./index.js"></script>
+</body>
+</html>

selfdrive/navd/tpl/amap/index.js.tpl

@@ -0,0 +1,120 @@
+var windowsArr = [];
+var markers = [];
+var map = new AMap.Map("container", {
+  resizeEnable: true,
+  center: [{{lon}}, {{lat}}], //地图中心点
+  zoom: 13, //地图显示的缩放级别
+  keyboardEnable: false,
+});
+
+var infoWindow;
+function openInfo(name, addr, lng, lat) {
+  //构建信息窗体中显示的内容
+  var info = [];
+  info.push('<div class="uk-card uk-card-default uk-card-body">');
+  info.push('<a class="uk-card-badge uk-label" onClick="javascript:infoWindow.close()" uk-close></a>');
+  info.push("<h3 style=\"padding-top: 10px;\" class=\"uk-card-title\">" + name + "</h3>");
+  info.push("<p>" + addr + "</p>");
+  info.push('<div class="uk-card-footer">');
+  info.push('<form name="navForm" method="post">');
+  info.push('  <input type="hidden" name="lat" value="' + lat + '">');
+  info.push('  <input type="hidden" name="lon" value="' + lng + '">');
+  info.push('  <input type="hidden" name="save_type" value="' + document.getElementById("save_type").value + '">');
+  info.push('  <input type="hidden" name="name" value="' + name + '">');
+  info.push('  <input class="uk-button uk-button-primary" type="submit" value="导航" >');
+  info.push('</form>');
+  info.push('</div>');
+  info.push("</div>");
+
+  var pos = new AMap.LngLat(lng, lat)
+  infoWindow = new AMap.InfoWindow({
+    position: pos,
+    isCustom: true,
+    offset: new AMap.Pixel(0, -30),
+    content: info.join(""), //使用默认信息窗体框样式，显示信息内容
+  });
+
+  infoWindow.open(map, pos);
+}
+AMap.plugin(["AMap.Autocomplete", "AMap.PlaceSearch"], function () {
+  var autoOptions = {
+    city: "全国", //城市，默认全国
+    input: "keyword", //使用联想输入的input的id
+  };
+  autocomplete = new AMap.Autocomplete(autoOptions);
+  var placeSearch = new AMap.PlaceSearch({
+    map: "",
+  });
+  AMap.event.addListener(autocomplete, "select", function (e) {
+    //TODO 针对选中的poi实现自己的功能
+    //重寫搜尋點及其提示資訊begin=====
+    placeSearch.setCity(e.poi.adcode);
+    if (e.poi && e.poi.location) {
+      map.setZoom(17);
+      map.setCenter(e.poi.location);
+    }
+    placeSearch.search(e.poi.name, check_dest); //關鍵字查詢查詢
+
+    function check_dest(status, result) {
+      if (status === "complete" && result.info === "OK") {
+        for (var h = 0; h < result.poiList.pois.length; h++) {
+          //返回搜尋列表迴圈繫結marker
+          var jy = result.poiList.pois[h]["location"]; //經緯度
+          var name = result.poiList.pois[h]["name"]; //地址
+          marker = new AMap.Marker({
+            //加點
+            map: map,
+            position: jy,
+          });
+          marker.extData = {
+            getLng: jy["lng"],
+            getLat: jy["lat"],
+            name: name,
+            address: result.poiList.pois[h]["address"],
+          }; //自定義想傳入的引數
+
+          marker.on("click", function (e) {
+            var hs = e.target.extData;
+            var content = openInfo(
+              hs["name"],
+              hs["address"],
+              hs["getLng"],
+              hs["getLat"]
+            );
+          });
+          markers.push(marker);
+        }
+      }
+    }
+    //重寫搜尋點及其提示資訊end=====
+  });
+});
+var clickEventListener = map.on('click', function(e)  {
+  map.remove(markers);
+  document.getElementById('longitude').value = e.lnglat.getLng();
+  document.getElementById('latitude').value = e.lnglat.getLat();
+  lnglatXY = [e.lnglat.getLng(), e.lnglat.getLat()];
+  var marker = new AMap.Marker({
+    //加點
+    map: map,
+    position: lnglatXY,
+  });
+  marker.extData = {
+    getLng: e.lnglat.getLng(),
+    getLat: e.lnglat.getLat(),
+  }; //自定義想傳入的引數
+
+  marker.on("click", function (e) {
+    var hs = e.target.extData;
+    var content = openInfo(
+      "",
+      "(" + hs["getLat"] + ", " + hs["getLng"] + ")",
+      hs["getLng"],
+      hs["getLat"]
+    );
+  });
+  markers.push(marker);
+  if (typeof(infoWindow) != "undefined") {
+    infoWindow.close();
+  }
+});

selfdrive/navd/tpl/amap/key_input.tpl

@@ -0,0 +1,11 @@
+<form name="setAmapTokenForm" method="post">
+    <fieldset class="uk-fieldset">
+        <legend class="uk-legend">请输入您的高德地图 API KEY</legend>
+        <div style="color: red">因系统升级，若于 2021/12/02 前申请 key 的人请重新申请新的「<b>key</b>」和「<b>安全密钥</b>」配对。</div>
+        <div class="uk-margin">
+            <input class="uk-input" type="text" name="amap_key_val" placeholder="KEY">
+            <input class="uk-input" type="text" name="amap_key_val_2" placeholder="安全密钥">
+            <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="设置">
+        </div>
+    </fieldset>
+</form>

selfdrive/navd/tpl/amap/style.css.tpl

@@ -0,0 +1,40 @@
+html, body {
+	margin: 0;
+	height: 100%;
+	width: 100%;
+	position: absolute;
+}
+
+#mapContainer {
+	top: 0;
+	left: 0;
+	right: 0;
+	bottom: 0;
+	width: 100%;
+	height: 100%;
+}
+
+.button-group {
+	position: absolute;
+	bottom: 20px;
+	right: 20px;
+	font-size: 12px;
+	padding: 10px;
+}
+
+.button-group .button {
+	height: 28px;
+	line-height: 28px;
+	background-color: #0D9BF2;
+	color: #FFF;
+	border: 0;
+	outline: none;
+	padding-left: 5px;
+	padding-right: 5px;
+	border-radius: 3px;
+	margin-bottom: 4px;
+	cursor: pointer;
+}
+.amap-info-content {
+	font-size: 12px;
+}

selfdrive/navd/tpl/app_token_input.tpl

@@ -0,0 +1,10 @@
+<form name="setSkTokenForm" method="post">
+    <fieldset class="uk-fieldset">
+        <legend class="uk-legend">Set your Mapbox <b>APP TOKEN</b></legend>
+        <div style="padding: 5px; color: red; font-weight: bold;">{{msg}}</div>
+        <div class="uk-margin">
+            <input class="uk-input" type="text" name="sk_token_val" placeholder="e.g.: sk.xxxxxxx...">
+            <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="Set">
+        </div>
+    </fieldset>
+</form>

selfdrive/navd/tpl/body.tpl

@@ -0,0 +1,20 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset="utf-8">
+  <title>sunnypilot</title>
+  <meta name="viewport" content="initial-scale=1,maximum-scale=1,user-scalable=no">
+  <!-- UIkit CSS -->
+  <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/css/uikit.min.css" />
+
+  <!-- UIkit JS -->
+  <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit.min.js"></script>
+  <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit-icons.min.js"></script>
+</head>
+<body style="margin: 0; padding: 0;">
+  <div style="display: grid; place-items: center;">
+  <div style="padding: 5px; font-weight: bold;" align="center"><a href="?reset=1"><img style="width: 100px; height: 100px; background-color: black;" src="logo.png"></a></div>
+  {{content}}
+  </div>
+</body>
+</html>

selfdrive/navd/tpl/gmap/index.html.tpl

@@ -0,0 +1,39 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <meta charset="utf-8">
+    <title>sunnypilot</title>
+    <script src="https://polyfill.io/v3/polyfill.min.js?features=default"></script>
+    <link rel="stylesheet" type="text/css" href="./style.css" />
+    <!-- UIkit CSS -->
+    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/css/uikit.min.css" />
+
+    <!-- UIkit JS -->
+    <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/uikit@3.9.2/dist/js/uikit-icons.min.js"></script>
+
+    <script src="./index.js"></script>
+    <meta name="viewport" content="width=device-width">
+  </head>
+  <body>
+    <div style="place-items: center; padding: 5px; font-weight: bold;" align="center"><a href="?reset=1"><img style="width: 100px; height: 100px; background-color: black;" src="logo.png"></a></div>
+    <div class="uk-grid-match uk-grid-small uk-text-center" uk-grid>
+      <div class="uk-width-1-3@m">
+        <select id="save_type" class="uk-select" name="type">
+          <option value="recent">Recent</option>
+          <option value="home">Home</option>
+          <option value="work">Work</option>
+        </select>
+      </div>
+      <div class="uk-width-expand@m">
+        <input class="uk-input" type="text" id="pac-input" name="keyword" placeholder="Search a place" onfocus='this.value=""'/>
+      </div>
+    </div>
+    <div id="map"></div>
+    <!-- Async script executes immediately and must be after any DOM elements used in callback. -->
+    <script
+      src="https://maps.googleapis.com/maps/api/js?key={{gmap_key}}&callback=initAutocomplete&libraries=places&v=weekly"
+      async
+    ></script>
+  </body>
+</html>

selfdrive/navd/tpl/gmap/index.js.tpl

@@ -0,0 +1,86 @@
+// This example adds a search box to a map, using the Google Place Autocomplete
+// feature. People can enter geographical searches. The search box will return a
+// pick list containing a mix of places and predicted search terms.
+// This example requires the Places library. Include the libraries=places
+// parameter when you first load the API. For example:
+// <script src="https://maps.googleapis.com/maps/api/js?key=YOUR_API_KEY&libraries=places">
+function initAutocomplete() {
+  const map = new google.maps.Map(document.getElementById("map"), {
+    center: { lat: {{lat}}, lng: {{lon}} },
+    zoom: 13,
+    mapTypeId: "roadmap",
+    disableDefaultUI: true
+  });
+  // Create the search box and link it to the UI element.
+  const input = document.getElementById("pac-input");
+  const searchBox = new google.maps.places.SearchBox(input);
+
+  // Bias the SearchBox results towards current map's viewport.
+  map.addListener("bounds_changed", () => {
+    searchBox.setBounds(map.getBounds());
+  });
+
+  let markers = [];
+
+  // Listen for the event fired when the user selects a prediction and retrieve
+  // more details for that place.
+  searchBox.addListener("places_changed", () => {
+    const places = searchBox.getPlaces();
+
+    if (places.length == 0) {
+      return;
+    }
+
+    // Clear out the old markers.
+    markers.forEach((marker) => {
+      marker.setMap(null);
+    });
+    markers = [];
+
+    // For each place, get the icon, name and location.
+    const bounds = new google.maps.LatLngBounds();
+
+    places.slice(-1).forEach((place) => {
+      if (!place.geometry || !place.geometry.location) {
+        console.log("Returned place contains no geometry");
+        return;
+      }
+
+      const icon = {
+        url: place.icon,
+        size: new google.maps.Size(71, 71),
+        origin: new google.maps.Point(0, 0),
+        anchor: new google.maps.Point(17, 34),
+        scaledSize: new google.maps.Size(25, 25),
+      };
+
+      // Create a marker for each place.
+      markers.push(
+        new google.maps.Marker({
+          map,
+          icon,
+          title: place.name,
+          position: place.geometry.location,
+        })
+      );
+
+      // set nav
+      var http = new XMLHttpRequest();
+      http.open("POST", "/", true);
+      http.setRequestHeader("Content-type","application/x-www-form-urlencoded");
+      var params = "lat=" + place.geometry.location.lat() + "&lon=" + place.geometry.location.lng();
+      params += "&save_type=" + document.getElementById("save_type").value;
+      params += "&name=" + place.name;
+      http.send(params);
+
+      if (place.geometry.viewport) {
+        // Only geocodes have viewport.
+        bounds.union(place.geometry.viewport);
+      } else {
+        bounds.extend(place.geometry.location);
+      }
+      return;
+    });
+    map.fitBounds(bounds);
+  });
+}

selfdrive/navd/tpl/gmap/key_input.tpl

@@ -0,0 +1,9 @@
+<form name="setGmapTokenForm" method="post">
+    <fieldset class="uk-fieldset">
+        <legend class="uk-legend">Set your Google Map API Key</legend>
+        <div class="uk-margin">
+            <input class="uk-input" type="text" name="gmap_key_val" placeholder="Google Map API KEY">
+            <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="设置">
+        </div>
+    </fieldset>
+</form>

selfdrive/navd/tpl/gmap/style.css.tpl

@@ -0,0 +1,72 @@
+/* Always set the map height explicitly to define the size of the div
+       * element that contains the map. */
+#map {
+  height: 100%;
+}
+
+/* Optional: Makes the sample page fill the window. */
+html,
+body {
+  height: 80%;
+  margin: 0;
+  padding: 0;
+}
+
+#description {
+  font-family: Roboto;
+  font-size: 15px;
+  font-weight: 300;
+}
+
+#infowindow-content .title {
+  font-weight: bold;
+}
+
+#infowindow-content {
+  display: none;
+}
+
+#map #infowindow-content {
+  display: inline;
+}
+
+.pac-card {
+  background-color: #fff;
+  border: 0;
+  border-radius: 2px;
+  box-shadow: 0 1px 4px -1px rgba(0, 0, 0, 0.3);
+  margin: 10px;
+  padding: 0 0.5em;
+  font: 400 18px Roboto, Arial, sans-serif;
+  overflow: hidden;
+  font-family: Roboto;
+  padding: 0;
+}
+
+#pac-container {
+  padding-bottom: 12px;
+  margin-right: 12px;
+}
+
+.pac-controls {
+  display: inline-block;
+  padding: 5px 11px;
+}
+
+.pac-controls label {
+  font-family: Roboto;
+  font-size: 13px;
+  font-weight: 300;
+}
+
+#title {
+  color: #fff;
+  background-color: #4d90fe;
+  font-size: 25px;
+  font-weight: 500;
+  padding: 6px 12px;
+}
+
+#target {
+  width: 345px;
+}

selfdrive/navd/tpl/nav_confirmation.tpl

@@ -0,0 +1,20 @@
+<div><img src="https://api.mapbox.com/styles/v1/mapbox/streets-v11/static/pin-s-l+000({{lon}},{{lat}})/{{lon}},{{lat}},14/300x300?access_token={{token}}" /></div>
+<div style="padding: 5px; font-size: 10px;">{{addr}}</div>
+<form name="navForm" method="post">
+    <fieldset class="uk-fieldset">
+        <div class="uk-margin">
+          <input type="hidden" name="name" value="{{addr}}">
+          <input type="hidden" name="lat" value="{{lat}}">
+          <input type="hidden" name="lon" value="{{lon}}">
+          <select id="save_type" name="save_type" class="uk-select">
+            <option value="recent">Recent</option>
+            <option value="home">Set Home</option>
+            <option value="work">Set Work</option>
+            <option value="fav1">Set Favorite 1</option>
+            <option value="fav2">Set Favorite 2</option>
+            <option value="fav3">Set Favorite 3</option>
+          </select>
+          <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="Start Navigation">
+        </div>
+    </fieldset>
+</form>

selfdrive/navd/tpl/public_token_input.tpl

@@ -0,0 +1,10 @@
+<form name="setPkTokenForm" method="post">
+    <fieldset class="uk-fieldset">
+        <legend class="uk-legend">Set your Mapbox <b>PUBLIC TOKEN</b></legend>
+        <div style="padding: 5px; color: red; font-weight: bold;">{{msg}}</div>
+        <div class="uk-margin">
+            <input class="uk-input" type="text" name="pk_token_val" placeholder="e.g.: pk.xxxxxxx...">
+            <input class="uk-button uk-button-primary uk-width-1-1 uk-margin-small-bottom" type="submit" value="Set">
+        </div>
+    </fieldset>
+</form>