From ba03e9429044e40477c3b1f38737688f5a24f4b4 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Thu, 20 Jul 2023 00:54:42 -0700
Subject: [PATCH] nav: draw destination pin on top of navigation path (#29050)

* Draw destination pin on top of navigation path

* fix draw ordering

fix draw ordering

* add todo

* rename to feature

* draft

* clean up

* testing

* testing 2

* Revert "testing 2"

This reverts commit fc236aafbc14bbdc5ddb52fb56265302247ddf4b.

* Revert "testing"

This reverts commit 982a508ad701268ebdae910980fd5464454f44a8.

* clean up

* add todo

* show!

* Update selfdrive/ui/qt/maps/map.cc

* lgtm

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/maps/map.cc | 35 ++++++++++++++++++++++++++++-------
 selfdrive/ui/qt/maps/map.h  |  1 -
 2 files changed, 28 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 02af445e6c..4a313e654c 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -112,7 +112,25 @@ void MapWindow::initLayers() {
     m_map->setPaintProperty("navLayer", "line-color-transition", transition);
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
-    m_map->addAnnotationIcon("default_marker", QImage("../assets/navigation/default_marker.svg"));
+  }
+  if (!m_map->layerExists("pinLayer")) {
+    qDebug() << "Initializing pinLayer";
+    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
+    QVariantMap pin;
+    pin["id"] = "pinLayer";
+    pin["type"] = "symbol";
+    pin["source"] = "pinSource";
+    m_map->addLayer(pin);
+
+    // FIXME: solve, workaround to remove animation on visibility property
+    QVariantMap transition;
+    transition["duration"] = 0;  // ms
+    m_map->setPaintProperty("pinLayer", "icon-opacity-transition", transition);
+    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
+    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
+    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
+    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
+    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
   }
   if (!m_map->layerExists("carPosLayer")) {
     qDebug() << "Initializing carPosLayer";
@@ -128,6 +146,7 @@ void MapWindow::initLayers() {
     m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
     m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
     m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
+    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
   }
 }
@@ -381,15 +400,17 @@ void MapWindow::offroadTransition(bool offroad) {
 }
 
 void MapWindow::updateDestinationMarker() {
-  if (marker_id != -1) {
-    m_map->removeAnnotation(marker_id);
-    marker_id = -1;
-  }
+  m_map->setPaintProperty("pinLayer", "icon-opacity", 0);
 
   auto nav_dest = coordinate_from_param("NavDestination");
   if (nav_dest.has_value()) {
-    auto ano = QMapbox::SymbolAnnotation {*nav_dest, "default_marker"};
-    marker_id = m_map->addAnnotation(QVariant::fromValue<QMapbox::SymbolAnnotation>(ano));
+    auto point = coordinate_to_collection(*nav_dest);
+    QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {});
+    QVariantMap pinSource;
+    pinSource["type"] = "geojson";
+    pinSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    m_map->updateSource("pinSource", pinSource);
+    m_map->setPaintProperty("pinLayer", "icon-opacity", 1);
   }
 }
 
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index f2143af7ae..7e3200aef6 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -74,7 +74,6 @@ private:
 
   QMapboxGLSettings m_settings;
   QScopedPointer<QMapboxGL> m_map;
-  QMapbox::AnnotationID marker_id = -1;
 
   void initLayers();