Mapbox widget (#20751)

* squash mapbox stuff

* only hacks for pc

* no hack there

* only update when needed

* get destination from param

* no need for user agent

* add athena method

* change nav path color

* layout cleanups

* margin top

* add build scripts

* rename header file

* set pitch

* fix icon blinking

* keep both options

* draw on top to fix last blinking

* only recomput with gps

* fix include

* put map in onroadwidget

* update mapbox plugin to allow specifying directions url

* cycle through views

* dynamic resize

* only when present

* add map_helpers

* whitespace

* small fixes

* let scons decide

* update setup files

* implicit dependency

* fix alerts

* Update selfdrive/ui/SConscript

* move clearLayout to util.h

* only build when map.cc present

* move maps to own folder

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Dockerfile.openpilot_base

@@ -28,6 +28,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     liblzma-dev \
     libomp-dev \
     libopencv-dev \
+    libqt5sql5-sqlite \
+    libqt5svg5-dev \
     libsqlite3-dev \
     libssl-dev \
     libsystemd-dev \
@@ -40,7 +42,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python-dev \
     qml-module-qtquick2 \
     qt5-default \
+    qtlocation5-dev \
     qtmultimedia5-dev \
+    qtpositioning5-dev \
     qtwebengine5-dev \
     sudo \
     valgrind \

SConstruct

@@ -128,6 +128,7 @@ else:
     libpath = [
       "#phonelibs/snpe/x86_64-linux-clang",
       "#phonelibs/libyuv/x64/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -190,6 +191,7 @@ env = Environment(
     "#phonelibs/android_system_core/include",
     "#phonelibs/linux/include",
     "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
     "#phonelibs/nanovg",
     "#phonelibs/qrcode",
     "#phonelibs",
@@ -272,7 +274,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
 if arch != "aarch64":
   qt_modules += ["DBus"]
 

phonelibs/mapbox-gl-native-qt/.gitattributes

@@ -0,0 +1,2 @@
+x86_64 filter=lfs diff=lfs merge=lfs -text
+larch64 filter=lfs diff=lfs merge=lfs -text

phonelibs/mapbox-gl-native-qt/build.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env sh
+cd /tmp
+git clone --recursive https://github.com/commaai/mapbox-gl-native.git
+cd mapbox-gl-native
+mkdir build && cd build
+cmake -DMBGL_WITH_QT=ON ..
+make -j$(nproc) mbgl-qt

phonelibs/mapbox-gl-native-qt/include/QMapbox

@@ -0,0 +1 @@
+#include "qmapbox.hpp"

phonelibs/mapbox-gl-native-qt/include/QMapboxGL

@@ -0,0 +1 @@
+#include "qmapboxgl.hpp"

phonelibs/mapbox-gl-native-qt/include/qmapbox.hpp

@@ -0,0 +1,147 @@
+#ifndef QMAPBOX_H
+#define QMAPBOX_H
+
+#include <QColor>
+#include <QPair>
+#include <QString>
+#include <QVariant>
+#include <QVector>
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+#if !defined(QT_MAPBOXGL_STATIC)
+#  if defined(QT_BUILD_MAPBOXGL_LIB)
+#    define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT
+#  else
+#    define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT
+#  endif
+#else
+#  define Q_MAPBOXGL_EXPORT
+#endif
+
+namespace QMapbox {
+
+typedef QPair<double, double> Coordinate;
+typedef QPair<Coordinate, double> CoordinateZoom;
+typedef QPair<double, double> ProjectedMeters;
+
+typedef QVector<Coordinate> Coordinates;
+typedef QVector<Coordinates> CoordinatesCollection;
+
+typedef QVector<CoordinatesCollection> CoordinatesCollections;
+
+struct Q_MAPBOXGL_EXPORT Feature {
+    enum Type {
+        PointType = 1,
+        LineStringType,
+        PolygonType
+    };
+
+    /*! Class constructor. */
+    Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(),
+            const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant())
+        : type(type_), geometry(geometry_), properties(properties_), id(id_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+    QVariantMap properties;
+    QVariant id;
+};
+
+struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry {
+    enum Type {
+        LineStringType = 1,
+        PolygonType,
+        MultiLineStringType,
+        MultiPolygonType
+    };
+
+    /*! Class constructor. */
+    ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections())
+        : type(type_), geometry(geometry_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+};
+
+struct Q_MAPBOXGL_EXPORT SymbolAnnotation {
+    Coordinate geometry;
+    QString icon;
+};
+
+struct Q_MAPBOXGL_EXPORT LineAnnotation {
+    /*! Class constructor. */
+    LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            float width_ = 1.0f, const QColor& color_ = Qt::black)
+        : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    float width;
+    QColor color;
+};
+
+struct Q_MAPBOXGL_EXPORT FillAnnotation {
+    /*! Class constructor. */
+    FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant())
+        : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    QColor color;
+    QVariant outlineColor;
+};
+
+typedef QVariant Annotation;
+typedef quint32 AnnotationID;
+typedef QVector<AnnotationID> AnnotationIDs;
+
+enum NetworkMode {
+    Online, // Default
+    Offline,
+};
+
+Q_MAPBOXGL_EXPORT QVector<QPair<QString, QString> >& defaultStyles();
+
+Q_MAPBOXGL_EXPORT NetworkMode networkMode();
+Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode);
+
+// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
+struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters {
+    double width;
+    double height;
+    double latitude;
+    double longitude;
+    double zoom;
+    double bearing;
+    double pitch;
+    double fieldOfView;
+};
+
+class Q_MAPBOXGL_EXPORT CustomLayerHostInterface {
+public:
+    virtual ~CustomLayerHostInterface() = default;
+    virtual void initialize() = 0;
+    virtual void render(const CustomLayerRenderParameters&) = 0;
+    virtual void deinitialize() = 0;
+};
+
+Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
+Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &);
+Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &);
+
+} // namespace QMapbox
+
+Q_DECLARE_METATYPE(QMapbox::Coordinate);
+Q_DECLARE_METATYPE(QMapbox::Coordinates);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections);
+Q_DECLARE_METATYPE(QMapbox::Feature);
+
+Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation);
+Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry);
+Q_DECLARE_METATYPE(QMapbox::LineAnnotation);
+Q_DECLARE_METATYPE(QMapbox::FillAnnotation);
+
+#endif // QMAPBOX_H

phonelibs/mapbox-gl-native-qt/include/qmapboxgl.hpp

@@ -0,0 +1,277 @@
+#ifndef QMAPBOXGL_H
+#define QMAPBOXGL_H
+
+#include <QImage>
+#include <QMapbox>
+#include <QMargins>
+#include <QObject>
+#include <QPointF>
+#include <QSize>
+#include <QString>
+#include <QStringList>
+
+#include <functional>
+
+class QMapboxGLPrivate;
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+class Q_MAPBOXGL_EXPORT QMapboxGLSettings
+{
+public:
+    QMapboxGLSettings();
+
+    enum GLContextMode {
+        UniqueGLContext = 0,
+        SharedGLContext
+    };
+
+    enum MapMode {
+        Continuous = 0,
+        Static
+    };
+
+    enum ConstrainMode {
+        NoConstrain = 0,
+        ConstrainHeightOnly,
+        ConstrainWidthAndHeight
+    };
+
+    enum ViewportMode {
+        DefaultViewport = 0,
+        FlippedYViewport
+    };
+
+    GLContextMode contextMode() const;
+    void setContextMode(GLContextMode);
+
+    MapMode mapMode() const;
+    void setMapMode(MapMode);
+
+    ConstrainMode constrainMode() const;
+    void setConstrainMode(ConstrainMode);
+
+    ViewportMode viewportMode() const;
+    void setViewportMode(ViewportMode);
+
+    unsigned cacheDatabaseMaximumSize() const;
+    void setCacheDatabaseMaximumSize(unsigned);
+
+    QString cacheDatabasePath() const;
+    void setCacheDatabasePath(const QString &);
+
+    QString assetPath() const;
+    void setAssetPath(const QString &);
+
+    QString accessToken() const;
+    void setAccessToken(const QString &);
+
+    QString apiBaseUrl() const;
+    void setApiBaseUrl(const QString &);
+
+    QString localFontFamily() const;
+    void setLocalFontFamily(const QString &);
+
+    std::function<std::string(const std::string &)> resourceTransform() const;
+    void setResourceTransform(const std::function<std::string(const std::string &)> &);
+
+private:
+    GLContextMode m_contextMode;
+    MapMode m_mapMode;
+    ConstrainMode m_constrainMode;
+    ViewportMode m_viewportMode;
+
+    unsigned m_cacheMaximumSize;
+    QString m_cacheDatabasePath;
+    QString m_assetPath;
+    QString m_accessToken;
+    QString m_apiBaseUrl;
+    QString m_localFontFamily;
+    std::function<std::string(const std::string &)> m_resourceTransform;
+};
+
+struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions {
+    QVariant center;  // Coordinate
+    QVariant anchor;  // QPointF
+    QVariant zoom;    // double
+    QVariant bearing; // double
+    QVariant pitch;   // double
+};
+
+class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
+    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
+    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
+    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
+    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
+    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
+    Q_PROPERTY(double scale READ scale WRITE setScale)
+    Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate)
+    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
+
+public:
+    enum MapChange {
+        MapChangeRegionWillChange = 0,
+        MapChangeRegionWillChangeAnimated,
+        MapChangeRegionIsChanging,
+        MapChangeRegionDidChange,
+        MapChangeRegionDidChangeAnimated,
+        MapChangeWillStartLoadingMap,
+        MapChangeDidFinishLoadingMap,
+        MapChangeDidFailLoadingMap,
+        MapChangeWillStartRenderingFrame,
+        MapChangeDidFinishRenderingFrame,
+        MapChangeDidFinishRenderingFrameFullyRendered,
+        MapChangeWillStartRenderingMap,
+        MapChangeDidFinishRenderingMap,
+        MapChangeDidFinishRenderingMapFullyRendered,
+        MapChangeDidFinishLoadingStyle,
+        MapChangeSourceDidChange
+    };
+
+    enum MapLoadingFailure {
+        StyleParseFailure,
+        StyleLoadFailure,
+        NotFoundFailure,
+        UnknownFailure
+    };
+
+    // Determines the orientation of the map.
+    enum NorthOrientation {
+        NorthUpwards, // Default
+        NorthRightwards,
+        NorthDownwards,
+        NorthLeftwards,
+    };
+
+    QMapboxGL(QObject* parent = 0,
+              const QMapboxGLSettings& = QMapboxGLSettings(),
+              const QSize& size = QSize(),
+              qreal pixelRatio = 1);
+    virtual ~QMapboxGL();
+
+    QString styleJson() const;
+    QString styleUrl() const;
+
+    void setStyleJson(const QString &);
+    void setStyleUrl(const QString &);
+
+    double latitude() const;
+    void setLatitude(double latitude);
+
+    double longitude() const;
+    void setLongitude(double longitude);
+
+    double scale() const;
+    void setScale(double scale, const QPointF &center = QPointF());
+
+    double zoom() const;
+    void setZoom(double zoom);
+
+    double minimumZoom() const;
+    double maximumZoom() const;
+
+    double bearing() const;
+    void setBearing(double degrees);
+    void setBearing(double degrees, const QPointF &center);
+
+    double pitch() const;
+    void setPitch(double pitch);
+    void pitchBy(double pitch);
+
+    NorthOrientation northOrientation() const;
+    void setNorthOrientation(NorthOrientation);
+
+    QMapbox::Coordinate coordinate() const;
+    void setCoordinate(const QMapbox::Coordinate &);
+    void setCoordinateZoom(const QMapbox::Coordinate &, double zoom);
+
+    void jumpTo(const QMapboxGLCameraOptions&);
+
+    void setGestureInProgress(bool inProgress);
+
+    void setTransitionOptions(qint64 duration, qint64 delay = 0);
+
+    void addAnnotationIcon(const QString &name, const QImage &sprite);
+
+    QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &);
+    void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &);
+    void removeAnnotation(QMapbox::AnnotationID);
+
+    bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value);
+    bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value);
+
+    bool isFullyLoaded() const;
+
+    void moveBy(const QPointF &offset);
+    void scaleBy(double scale, const QPointF &center = QPointF());
+    void rotateBy(const QPointF &first, const QPointF &second);
+
+    void resize(const QSize &size);
+
+    double metersPerPixelAtLatitude(double latitude, double zoom) const;
+    QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const;
+    QPointF pixelForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForPixel(const QPointF &) const;
+
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const;
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch);
+
+    void setMargins(const QMargins &margins);
+    QMargins margins() const;
+
+    void addSource(const QString &sourceID, const QVariantMap& params);
+    bool sourceExists(const QString &sourceID);
+    void updateSource(const QString &sourceID, const QVariantMap& params);
+    void removeSource(const QString &sourceID);
+
+    void addImage(const QString &name, const QImage &sprite);
+    void removeImage(const QString &name);
+
+    void addCustomLayer(const QString &id,
+        QScopedPointer<QMapbox::CustomLayerHostInterface>& host,
+        const QString& before = QString());
+    void addLayer(const QVariantMap &params, const QString& before = QString());
+    bool layerExists(const QString &id);
+    void removeLayer(const QString &id);
+
+    QVector<QString> layerIds() const;
+
+    void setFilter(const QString &layer, const QVariant &filter);
+    QVariant getFilter(const QString &layer) const;
+    // When rendering on a different thread,
+    // should be called on the render thread.
+    void createRenderer();
+    void destroyRenderer();
+    void setFramebufferObject(quint32 fbo, const QSize &size);
+
+public slots:
+    void render();
+    void connectionEstablished();
+
+    // Commit changes, load all the resources
+    // and renders the map when completed.
+    void startStaticRender();
+
+signals:
+    void needsRendering();
+    void mapChanged(QMapboxGL::MapChange);
+    void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason);
+    void copyrightsChanged(const QString &copyrightsHtml);
+
+    void staticRenderFinished(const QString &error);
+
+private:
+    Q_DISABLE_COPY(QMapboxGL)
+
+    QMapboxGLPrivate *d_ptr;
+};
+
+Q_DECLARE_METATYPE(QMapboxGL::MapChange);
+Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure);
+
+#endif // QMAPBOXGL_H

phonelibs/qt-plugins/.gitattributes

@@ -0,0 +1 @@
+x86_64 filter=lfs diff=lfs merge=lfs -text

phonelibs/qt-plugins/build_qtlocation.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+
+# Qtlocation plugin with extra fields parsed from api response
+cd /tmp
+git clone https://github.com/commaai/qtlocation.git
+cd qtlocation
+qmake
+make -j$(nproc)

selfdrive/assets/images/triangle.svg

@@ -0,0 +1,56 @@
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+   xmlns:svg="http://www.w3.org/2000/svg"
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+   sodipodi:docname="triangle.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
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+     id="metadata8">
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+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
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+     bordercolor="#666666"
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+     showgrid="false"
+     inkscape:zoom="3.7926636"
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