From 34a5e626d6f55cd33bc292e4f9d4a21e1fd2972b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Jul 2023 14:49:19 -0700
Subject: [PATCH] ui: show map with nav (#28867)

* accept touch events in map settings

* draft

* draft 2.0

* revert this stuff

* need this

* fix

* clean up debug prints

* fraft

* only show map on closeSettings if nav

* works!

* can't do it here

* I was going to connect signals from UIState to HomeWindow, then to OnroadWidget, but that seems like too much

* just need to keep track of it in onroad, seems like the cleanest option

* ideally we show the map where we set the scene variable, and that's in map.cc

* old variable

* comments

* less confusing

* app comment

* add back

* fix

* move to top

* remove this comment
---
 selfdrive/ui/qt/home.cc     | 4 ++++
 selfdrive/ui/qt/home.h      | 1 +
 selfdrive/ui/qt/maps/map.cc | 9 +++++++++
 selfdrive/ui/qt/onroad.cc   | 4 +++-
 selfdrive/ui/qt/onroad.h    | 1 +
 selfdrive/ui/qt/window.cc   | 4 ++++
 selfdrive/ui/ui.h           | 2 ++
 7 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index b4181f82b7..b674d39fbd 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -55,6 +55,10 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
+void HomeWindow::showMapPanel(bool show) {
+  onroad->showMapPanel(show);
+}
+
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index ed1c215467..c6032852a1 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,6 +55,7 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
+  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 09eb4045b2..3ae708624d 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -130,6 +130,15 @@ void MapWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   update();
 
+  // update navigate on openpilot status
+  if (sm.updated("modelV2")) {
+    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled();
+    if (nav_enabled && !uiState()->scene.navigate_on_openpilot) {
+      emit requestVisible(true);  // Show map on rising edge of navigate on openpilot
+    }
+    uiState()->scene.navigate_on_openpilot = nav_enabled;
+  }
+
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto locationd_pos = locationd_location.getPositionGeodetic();
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 4f144f667f..ef711afd50 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -74,8 +74,10 @@ void OnroadWindow::updateState(const UIState &s) {
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
 #ifdef ENABLE_MAPS
   if (map != nullptr) {
+    // Switch between map and sidebar when using navigate on openpilot
     bool sidebarVisible = geometry().x() > 0;
-    map->setVisible(!sidebarVisible && !map->isVisible());
+    bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
+    map->setVisible(show_map && !map->isVisible());
   }
 #endif
   // propagation event to parent(HomeWindow)
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 6f30d0f37e..955ddf254d 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -117,6 +117,7 @@ class OnroadWindow : public QWidget {
 public:
   OnroadWindow(QWidget* parent = 0);
   bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
 
 signals:
   void mapPanelRequested();
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index faa62a71e8..705c2f2172 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -75,6 +75,10 @@ void MainWindow::closeSettings() {
 
   if (uiState()->scene.started) {
     homeWindow->showSidebar(false);
+    // Map is always shown when using navigate on openpilot
+    if (uiState()->scene.navigate_on_openpilot) {
+      homeWindow->showMapPanel(true);
+    }
   }
 }
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index cf5094371c..2519f8ea2c 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -131,6 +131,8 @@ typedef struct UIScene {
   float driver_pose_coss[3];
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
+  bool navigate_on_openpilot = false;
+
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;