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https://github.com/firestar5683/StarPilot.git
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Update mapd to v2
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James
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#!/usr/bin/env python3
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# PFEIFER - MAPD - Modified by FrogAi for FrogPilot
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import json
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import os
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import shutil
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import stat
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import subprocess
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import tempfile
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import time
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import urllib.request
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from pathlib import Path
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from openpilot.common.params import Params
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from openpilot.frogpilot.common.frogpilot_utilities import is_url_pingable
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from openpilot.frogpilot.common.frogpilot_variables import MAPD_PATH, RESOURCES_REPO
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VERSION = "v2"
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GITHUB_VERSION_URL = f"https://github.com/{RESOURCES_REPO}/raw/Versions/mapd_version_{VERSION}.json"
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GITLAB_VERSION_URL = f"https://gitlab.com/{RESOURCES_REPO}/-/raw/Versions/mapd_version_{VERSION}.json"
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VERSION_PATH = Path("/data/media/0/osm/mapd_version")
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def cleanup_temp_files():
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parent = MAPD_PATH.parent
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try:
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if not parent.exists() or not parent.is_dir():
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return
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except OSError as e:
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print(f"Skipping cleanup; cannot access {parent}: {e}")
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return
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try:
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for file in parent.glob("mapd*"):
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if file == MAPD_PATH or file == VERSION_PATH:
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continue
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if file.is_file():
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try:
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file.unlink()
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except Exception as exception:
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print(f"Failed to delete leftover file {file}: {exception}")
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except OSError as exception:
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print(f"Skipping cleanup in {parent} due to I/O error: {exception}")
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def download():
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Path(MAPD_PATH).parent.mkdir(parents=True, exist_ok=True)
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while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
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time.sleep(60)
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latest_version = get_latest_version()
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urls = [
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f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{latest_version}/mapd",
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f"https://gitlab.com/{RESOURCES_REPO}/-/raw/Mapd/{latest_version}"
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]
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for url in urls:
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try:
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with urllib.request.urlopen(url) as response:
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with tempfile.NamedTemporaryFile("wb", delete=False, dir=MAPD_PATH.parent) as temp_file:
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shutil.copyfileobj(response, temp_file)
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temp_file_path = Path(temp_file.name)
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os.fsync(temp_file.fileno())
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os.chmod(temp_file_path, os.stat(temp_file_path).st_mode | stat.S_IEXEC)
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os.rename(temp_file_path, MAPD_PATH)
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with open(VERSION_PATH, "w") as version_file:
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version_file.write(latest_version)
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os.fsync(version_file.fileno())
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return
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except Exception as exception:
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print(f"Failed to download mapd from {url}: {exception}")
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if "temp_file_path" in locals() and temp_file_path.exists():
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temp_file_path.unlink(missing_ok=True)
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def get_latest_version():
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while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
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time.sleep(60)
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for url in [GITHUB_VERSION_URL, GITLAB_VERSION_URL]:
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try:
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with urllib.request.urlopen(url, timeout=10) as response:
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return json.loads(response.read().decode("utf-8"))["version"]
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except Exception as exception:
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print(f"Error fetching mapd version from {url}: {exception}")
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return "v0"
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def update_mapd():
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if not MAPD_PATH.exists():
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print(f"{MAPD_PATH} not found. Downloading...")
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download()
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return False
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if not VERSION_PATH.exists():
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print(f"{VERSION_PATH} not found. Downloading mapd...")
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download()
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return False
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if is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com"):
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try:
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with open(VERSION_PATH) as version_file:
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local_version = version_file.read().strip()
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if local_version != get_latest_version():
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print("New mapd version available. Updating...")
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download()
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return False
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else:
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return True
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except Exception as exception:
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print(f"Error checking version: {exception}")
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return False
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if not os.access(MAPD_PATH, os.X_OK):
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print(f"{MAPD_PATH} is not executable. Fixing permissions...")
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try:
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os.chmod(MAPD_PATH, os.stat(MAPD_PATH).st_mode | stat.S_IEXEC)
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except Exception as exception:
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print(f"Failed to set executable permissions on {MAPD_PATH}: {exception}")
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return False
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return True
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def mapd_thread():
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params_memory = Params(memory=True)
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params_memory.put("MapdLogLevel", "disabled")
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while True:
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try:
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cleanup_temp_files()
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except OSError as exception:
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print(f"Cleanup errored: {exception}")
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time.sleep(5)
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continue
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while not update_mapd():
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time.sleep(60)
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continue
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try:
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process = subprocess.Popen(str(MAPD_PATH))
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process.wait()
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except FileNotFoundError as error:
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print(f"Subprocess failed: {error}")
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download()
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def main():
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mapd_thread()
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if __name__ == "__main__":
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main()
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