forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Prebuilt Release @ ab07000
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IQ.Lvbs history cleanup
257
selfdrive/ui/lib/nav_search.py
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257
selfdrive/ui/lib/nav_search.py
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"""Destination search + persistence for the offroad Navigate screen.
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Uses Mapbox's Search Box API (the same public Mapbox service the nav map preview already calls) for
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POI-and-address autocomplete biased to the device's location — so "Walmart" returns the nearest
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Walmart store, not a street named Walmart, and partial addresses complete as you type. Selecting a
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result writes NavigationDestination, which navd picks up to build the route.
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Home/Work/Recents live in a small JSON file on /data (persistent, no new param key needed).
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"""
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from __future__ import annotations
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import json
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import threading
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import uuid
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from dataclasses import dataclass, asdict
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import requests
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.ui.lib.nav_helpers import resolve_mapbox_token, current_or_last_gps_position
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SEARCHBOX = "https://api.mapbox.com/search/searchbox/v1"
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FAVORITES_PATH = "/data/nav_favorites.json"
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MAX_RESULTS = 6
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MAX_RECENTS = 8
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@dataclass
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class SearchResult:
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name: str
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address: str
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mapbox_id: str = ""
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distance_m: float | None = None
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lat: float | None = None
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lon: float | None = None
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@property
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def has_coords(self) -> bool:
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return self.lat is not None and self.lon is not None
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class NavSearch:
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"""Threaded, debounced Search Box autocomplete. The UI calls search() as the user types and reads
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results()/searching each frame; a stale query's results are dropped so only the latest shows."""
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def __init__(self):
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self._params = Params()
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self._session = str(uuid.uuid4())
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self._lock = threading.Lock()
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self._results: list[SearchResult] = []
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self._seq = 0
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self._last_query = ""
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self._searching = False
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def new_session(self) -> None:
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# A Search Box "session" groups suggest+retrieve for billing; start one per search visit.
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self._session = str(uuid.uuid4())
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with self._lock:
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self._results = []
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self._last_query = ""
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def results(self) -> list[SearchResult]:
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with self._lock:
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return list(self._results)
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@property
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def searching(self) -> bool:
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return self._searching
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def search(self, query: str) -> None:
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query = query.strip()
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if query == self._last_query:
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return
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self._last_query = query
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self._seq += 1
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seq = self._seq
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if len(query) < 2:
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with self._lock:
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self._results = []
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self._searching = False
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return
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self._searching = True
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threading.Thread(target=self._do_search, args=(query, seq), daemon=True).start()
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def _do_search(self, query: str, seq: int) -> None:
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try:
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token = resolve_mapbox_token(self._params)
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lat, lon, _, fix = current_or_last_gps_position(self._params)
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params = {"q": query, "access_token": token, "session_token": self._session,
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"limit": MAX_RESULTS, "language": "en"}
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if fix:
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params["proximity"] = f"{lon},{lat}"
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resp = requests.get(f"{SEARCHBOX}/suggest", params=params, timeout=8)
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resp.raise_for_status()
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results = []
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for s in resp.json().get("suggestions", []):
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mid = s.get("mapbox_id")
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addr = s.get("full_address") or s.get("place_formatted") or ""
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# Skip brand/category refinement rows (e.g. "Walmart · Brand") — not a single routable place.
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if not mid or not addr or s.get("feature_type") in ("category", "brand"):
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continue
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results.append(SearchResult(name=s.get("name", ""), address=addr, mapbox_id=mid,
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distance_m=s.get("distance")))
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if seq == self._seq:
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with self._lock:
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self._results = results
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except Exception as e:
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cloudlog.event("nav_search.suggest_failed", error=str(e))
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if seq == self._seq:
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with self._lock:
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self._results = []
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finally:
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if seq == self._seq:
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self._searching = False
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def retrieve(self, result: SearchResult) -> SearchResult | None:
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"""Resolve a suggestion's coordinates (Search Box suggest omits them by design)."""
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if result.has_coords:
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return result
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try:
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token = resolve_mapbox_token(self._params)
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resp = requests.get(f"{SEARCHBOX}/retrieve/{result.mapbox_id}",
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params={"access_token": token, "session_token": self._session}, timeout=8)
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resp.raise_for_status()
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feats = resp.json().get("features", [])
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if not feats:
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return None
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coords = feats[0]["geometry"]["coordinates"]
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props = feats[0].get("properties", {})
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result.lon, result.lat = float(coords[0]), float(coords[1])
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result.name = props.get("name") or result.name
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result.address = props.get("full_address") or result.address
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return result
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except Exception as e:
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cloudlog.event("nav_search.retrieve_failed", error=str(e))
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return None
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# --- destination + favorites persistence -------------------------------------------------------
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def set_destination(lat: float, lon: float, name: str) -> None:
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"""Hand a destination to navd (it routes off NavigationDestination). Mirrors hephaestusd's
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setNavDestination so a fresh route is always recomputed."""
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params = Params()
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params.remove("AthenaNavigationRoute")
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params.put_bool("NavigationActive", False)
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# NavigationDestination is a JSON-typed param: pass the object, not a pre-serialized string.
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params.put("NavigationDestination", {"latitude": float(lat), "longitude": float(lon), "name": name or ""})
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def cancel_navigation() -> None:
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"""Clear the active route/destination so navd stops navigating."""
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params = Params()
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params.remove("NavigationDestination")
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params.remove("AthenaNavigationRoute")
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params.put_bool("NavigationActive", False)
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def has_active_destination() -> bool:
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try:
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return bool(Params().get("NavigationDestination"))
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except Exception:
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return False
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def _load_favorites() -> dict:
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try:
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with open(FAVORITES_PATH) as f:
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data = json.load(f)
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return data if isinstance(data, dict) else {}
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except Exception:
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return {}
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def _save_favorites(data: dict) -> None:
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try:
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tmp = FAVORITES_PATH + ".tmp"
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with open(tmp, "w") as f:
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json.dump(data, f)
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import os
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os.replace(tmp, FAVORITES_PATH)
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except Exception as e:
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cloudlog.event("nav_search.save_favorites_failed", error=str(e))
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def _place_to_result(place: dict | None) -> SearchResult | None:
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if not place:
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return None
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try:
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return SearchResult(name=place.get("name", ""), address=place.get("address", ""),
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lat=float(place["lat"]), lon=float(place["lon"]))
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except Exception:
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return None
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def get_home() -> SearchResult | None:
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return _place_to_result(_load_favorites().get("home"))
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def get_work() -> SearchResult | None:
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return _place_to_result(_load_favorites().get("work"))
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def _place_dict(r: SearchResult) -> dict:
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return {"name": r.name, "address": r.address, "lat": r.lat, "lon": r.lon}
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def save_home(r: SearchResult) -> None:
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data = _load_favorites()
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data["home"] = _place_dict(r)
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_save_favorites(data)
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def save_work(r: SearchResult) -> None:
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data = _load_favorites()
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data["work"] = _place_dict(r)
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_save_favorites(data)
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def remove_home() -> None:
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data = _load_favorites()
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data.pop("home", None)
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_save_favorites(data)
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def remove_work() -> None:
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data = _load_favorites()
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data.pop("work", None)
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_save_favorites(data)
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def remove_recent(r: SearchResult) -> None:
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data = _load_favorites()
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data["recents"] = [p for p in data.get("recents", [])
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if not (abs(p.get("lat", 0) - (r.lat or 0)) < 1e-5 and abs(p.get("lon", 0) - (r.lon or 0)) < 1e-5)]
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_save_favorites(data)
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def get_recents() -> list[SearchResult]:
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out = []
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for p in _load_favorites().get("recents", []):
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r = _place_to_result(p)
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if r is not None:
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out.append(r)
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return out
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def add_recent(r: SearchResult) -> None:
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if not r.has_coords:
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return
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data = _load_favorites()
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recents = [p for p in data.get("recents", [])
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if not (abs(p.get("lat", 0) - r.lat) < 1e-5 and abs(p.get("lon", 0) - r.lon) < 1e-5)]
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recents.insert(0, _place_dict(r))
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data["recents"] = recents[:MAX_RECENTS]
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_save_favorites(data)
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