Update mapd to v2

2026-09-03 14:43:48 +08:00 · 2026-01-06 17:12:51 -07:00
parent dc9a91e201
commit 5758e61a6d
17 changed files with 281 additions and 322 deletions
@@ -38,7 +38,7 @@ FrogPilotUIState::FrogPilotUIState(QObject *parent) : QObject(parent) {
  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
    "carControl", "deviceState", "frogpilotCarState", "frogpilotDeviceState",
    "frogpilotPlan", "frogpilotRadarState", "frogpilotSelfdriveState", "liveDelay",
-    "liveParameters", "liveTorqueParameters", "liveTracks", "selfdriveState"
+    "liveParameters", "liveTorqueParameters", "liveTracks", "mapdExtendedOut", "mapdOut", "selfdriveState"
  });

  wifi = new WifiManager(this);
@@ -1,5 +1,3 @@
-#include <regex>
-
 #include <QtConcurrent>

 #include "frogpilot/ui/qt/offroad/maps_settings.h"
@@ -64,34 +62,6 @@ FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent, bool for
  });
  settingsList->addItem(removeMapsButton);

-  resetMapdButton = new ButtonControl(tr("Reset Downloader"), tr("RESET"),
-                                   tr("<b>Reset the map downloader.</b> Use this if downloads are stuck or failing."));
-  QObject::connect(resetMapdButton, &ButtonControl::clicked, [parent, this]() {
-    if (ConfirmationDialog::confirm(tr("Reset the map downloader? Your device will reboot afterward."), tr("Reset"), this)) {
-      std::thread([parent, this]() {
-        parent->keepScreenOn = true;
-
-        resetMapdButton->setEnabled(false);
-        resetMapdButton->setValue(tr("Resetting..."));
-
-        std::system("pkill mapd");
-
-        QDir("/data/media/0/osm").removeRecursively();
-
-        resetMapdButton->setValue(tr("Reset!"));
-
-        util::sleep_for(2500);
-
-        resetMapdButton->setValue(tr("Rebooting..."));
-
-        util::sleep_for(2500);
-
-        Hardware::reboot();
-      }).detach();
-    }
-  });
-  settingsList->addItem(resetMapdButton);
-
  settingsList->addItem(mapsSize = new LabelControl(tr("Storage Used"), calculateDirectorySize(mapsFolderPath)));

  ScrollView *settingsPanel = new ScrollView(settingsList, this);
@@ -138,13 +108,10 @@ FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent, bool for
      downloadMapsButton->showDescription();
      preferredSchedule->showDescription();
      removeMapsButton->showDescription();
-      resetMapdButton->showDescription();
      selectMaps->showDescription();
    }

-    std::string mapsSelected = params.get("MapsSelected");
-    hasMapsSelected = !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("nations").toArray().isEmpty();
-    hasMapsSelected |= !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("states").toArray().isEmpty();
+    hasMapsSelected = !params.get("MapsSelected").empty();

    mapsLayout->setCurrentWidget(settingsPanel);
  });
@@ -156,7 +123,6 @@ void FrogPilotMapsPanel::showEvent(QShowEvent *event) {
    downloadMapsButton->showDescription();
    preferredSchedule->showDescription();
    removeMapsButton->showDescription();
-    resetMapdButton->showDescription();
    selectMaps->showDescription();
  }

@@ -165,17 +131,23 @@ void FrogPilotMapsPanel::showEvent(QShowEvent *event) {

  FrogPilotUIState &fs = *frogpilotUIState();
  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+  SubMaster &fpsm = *(fs.sm);

-  std::string mapsSelected = params.get("MapsSelected");
-  hasMapsSelected = !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("nations").toArray().isEmpty();
-  hasMapsSelected |= !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("states").toArray().isEmpty();
+  const cereal::MapdExtendedOut::Reader &mapdExtendedOut = fpsm["mapdExtendedOut"].getMapdExtendedOut();
+  const cereal::MapdDownloadProgress::Reader &downloadProgress = mapdExtendedOut.getDownloadProgress();
+
+  bool mapDownloadActive = downloadProgress.getActive();
+
+  int mapDownloadDownloaded = downloadProgress.getDownloadedFiles();
+  int mapDownloadTotal = downloadProgress.getTotalFiles();
+
+  hasMapsSelected = !params.get("MapsSelected").empty();

  bool parked = !scene.started || frogpilot_scene.parked || parent->isFrogsGoMoo;

  removeMapsButton->setVisible(mapsFolderPath.exists());

-  std::string osmDownloadProgress = params.get("OSMDownloadProgress");
-  if (!osmDownloadProgress.empty()) {
+  if (mapDownloadActive) {
    downloadMapsButton->setText(tr("CANCEL"));
    downloadStatus->setText(tr("Calculating..."));

@@ -183,9 +155,8 @@ void FrogPilotMapsPanel::showEvent(QShowEvent *event) {

    lastMapsDownload->setVisible(false);
    removeMapsButton->setVisible(false);
-    resetMapdButton->setVisible(false);

-    updateDownloadLabels(osmDownloadProgress);
+    updateDownloadLabels(mapDownloadDownloaded, mapDownloadTotal);
  } else {
    downloadMapsButton->setEnabled(!cancellingDownload && hasMapsSelected && frogpilot_scene.online && parked);
    downloadMapsButton->setValue(frogpilot_scene.online ? (parked ? "" : tr("Not parked")) : tr("Offline..."));
@@ -194,24 +165,33 @@ void FrogPilotMapsPanel::showEvent(QShowEvent *event) {


 void FrogPilotMapsPanel::updateState(const UIState &s, const FrogPilotUIState &fs) {
-  if (!isVisible() || s.sm->frame % (UI_FREQ / 2) != 0) {
+  if (!isVisible()) {
    return;
  }

  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
  const UIScene &scene = s.scene;
+  const SubMaster &fpsm = *(fs.sm);

+  const cereal::MapdExtendedOut::Reader &mapdExtendedOut = fpsm["mapdExtendedOut"].getMapdExtendedOut();
+  const cereal::MapdDownloadProgress::Reader &downloadProgress = mapdExtendedOut.getDownloadProgress();
+
+  bool mapDownloadActive = downloadProgress.getActive();
  bool parked = !scene.started || frogpilot_scene.parked || parent->isFrogsGoMoo;

-  std::string osmDownloadProgress = params.get("OSMDownloadProgress");
-  if (!osmDownloadProgress.empty() && !cancellingDownload) {
-    updateDownloadLabels(osmDownloadProgress);
+  int mapDownloadDownloaded = downloadProgress.getDownloadedFiles();
+  int mapDownloadTotal = downloadProgress.getTotalFiles();
+
+  if (mapDownloadActive && !cancellingDownload) {
+    updateDownloadLabels(mapDownloadDownloaded, mapDownloadTotal);
+  } else if (downloadMapsButton->text() == tr("CANCEL")) {
+    updateDownloadLabels(mapDownloadDownloaded, mapDownloadTotal);
  } else {
    downloadMapsButton->setEnabled(!cancellingDownload && hasMapsSelected && frogpilot_scene.online && parked);
    downloadMapsButton->setValue(frogpilot_scene.online ? (parked ? "" : tr("Not parked")) : tr("Offline..."));
  }

-  parent->keepScreenOn = !osmDownloadProgress.empty();
+  parent->keepScreenOn = mapDownloadActive;
 }

 void FrogPilotMapsPanel::cancelDownload() {
@@ -224,10 +204,8 @@ void FrogPilotMapsPanel::cancelDownload() {
  downloadStatus->setText(tr("Calculating..."));
  downloadTimeElapsed->setText(tr("Calculating..."));

-  params.remove("OSMDownloadProgress");
-  params_memory.remove("OSMDownloadLocations");
-
-  std::system("pkill mapd");
+  params_memory.putBool("CancelDownloadMaps", true);
+  params_memory.remove("DownloadMaps");

  QTimer::singleShot(2500, [this]() {
    cancellingDownload = false;
@@ -242,7 +220,6 @@ void FrogPilotMapsPanel::cancelDownload() {

    lastMapsDownload->setVisible(true);
    removeMapsButton->setVisible(mapsFolderPath.exists());
-    resetMapdButton->setVisible(true);

    update();
  });
@@ -260,53 +237,42 @@ void FrogPilotMapsPanel::startDownload() {

  lastMapsDownload->setVisible(false);
  removeMapsButton->setVisible(false);
-  resetMapdButton->setVisible(false);

  elapsedTime.start();
  startTime = QDateTime::currentDateTime();

-  params_memory.put("OSMDownloadLocations", params.get("MapsSelected"));
+  params_memory.putBool("DownloadMaps", true);
 }

-void FrogPilotMapsPanel::updateDownloadLabels(std::string &osmDownloadProgress) {
-  static std::regex fileStatusRegex(R"("total_files":(\d+),.*"downloaded_files":(\d+))");
+void FrogPilotMapsPanel::updateDownloadLabels(int downloadedFiles, int totalFiles) {
+  if (downloadedFiles == totalFiles && totalFiles != 0) {
+    downloadMapsButton->setText(tr("DOWNLOAD"));
+    lastMapsDownload->setText(formatCurrentDate());

-  std::smatch match;
-  if (std::regex_search(osmDownloadProgress, match, fileStatusRegex)) {
-    int totalFiles = std::stoi(match[1].str());
-    int downloadedFiles = std::stoi(match[2].str());
+    downloadETA->setVisible(false);
+    downloadStatus->setVisible(false);
+    downloadTimeElapsed->setVisible(false);

-    if (downloadedFiles == totalFiles) {
-      downloadMapsButton->setText(tr("DOWNLOAD"));
-      lastMapsDownload->setText(formatCurrentDate());
+    lastMapsDownload->setVisible(true);
+    removeMapsButton->setVisible(true);

-      downloadETA->setVisible(false);
-      downloadStatus->setVisible(false);
-      downloadTimeElapsed->setVisible(false);
+    params.put("LastMapsUpdate", formatCurrentDate().toStdString());

-      lastMapsDownload->setVisible(true);
-      removeMapsButton->setVisible(true);
-      resetMapdButton->setVisible(true);
+    update();

-      params.put("LastMapsUpdate", formatCurrentDate().toStdString());
-      params.remove("OSMDownloadProgress");
-
-      update();
-
-      return;
-    }
-
-    static int previousDownloadedFiles = 0;
-    if (downloadedFiles != previousDownloadedFiles) {
-      std::thread([this]() {
-        mapsSize->setText(calculateDirectorySize(mapsFolderPath));
-      }).detach();
-    }
-
-    downloadETA->setText(QString("%1").arg(formatETA(elapsedTime.elapsed(), downloadedFiles, previousDownloadedFiles, totalFiles, startTime)));
-    downloadStatus->setText(QString("%1 / %2 (%3%)").arg(downloadedFiles).arg(totalFiles).arg((downloadedFiles * 100) / totalFiles));
-    downloadTimeElapsed->setText(formatElapsedTime(elapsedTime.elapsed()));
-
-    previousDownloadedFiles = downloadedFiles;
+    return;
  }
+
+  static int previousDownloadedFiles = 0;
+  if (downloadedFiles != previousDownloadedFiles) {
+    std::thread([this]() {
+      mapsSize->setText(calculateDirectorySize(mapsFolderPath));
+    }).detach();
+  }
+
+  downloadETA->setText(QString("%1").arg(formatETA(elapsedTime.elapsed(), downloadedFiles, previousDownloadedFiles, totalFiles, startTime)));
+  downloadStatus->setText(QString("%1 / %2 (%3%)").arg(downloadedFiles).arg(totalFiles).arg((downloadedFiles * 100) / (totalFiles == 0 ? 1 : totalFiles)));
+  downloadTimeElapsed->setText(formatElapsedTime(elapsedTime.elapsed()));
+
+  previousDownloadedFiles = downloadedFiles;
 }
@@ -18,7 +18,7 @@ protected:
 private:
  void cancelDownload();
  void startDownload();
-  void updateDownloadLabels(std::string &osmDownloadProgress);
+  void updateDownloadLabels(int downloadedFiles, int totalFiles);
  void updateState(const UIState &s, const FrogPilotUIState &fs);

  bool cancellingDownload;
@@ -27,7 +27,6 @@ private:

  ButtonControl *downloadMapsButton;
  ButtonControl *removeMapsButton;
-  ButtonControl *resetMapdButton;

  ButtonParamControl *preferredSchedule;

@@ -134,6 +134,7 @@ void FrogPilotAnnotatedCameraWidget::updateState(const UIState &s, const FrogPil
  const cereal::FrogPilotCarState::Reader &frogpilotCarState = fpsm["frogpilotCarState"].getFrogpilotCarState();
  const cereal::FrogPilotPlan::Reader &frogpilotPlan = fpsm["frogpilotPlan"].getFrogpilotPlan();
  const cereal::FrogPilotSelfdriveState::Reader &frogpilotSelfdriveState = fpsm["frogpilotSelfdriveState"].getFrogpilotSelfdriveState();
+  const cereal::MapdOut::Reader &mapdOut = fpsm["mapdOut"].getMapdOut();
  const cereal::ModelDataV2::Reader &modelV2 = sm["modelV2"].getModelV2();
  const cereal::SelfdriveState::Reader &selfdriveState = sm["selfdriveState"].getSelfdriveState();

@@ -177,7 +178,7 @@ void FrogPilotAnnotatedCameraWidget::updateState(const UIState &s, const FrogPil
  nextSpeedLimit = frogpilotPlan.getSlcNextSpeedLimit();
  redLight = frogpilotPlan.getRedLight();
  roadCurvature = frogpilotPlan.getRoadCurvature();
-  roadName = QString::fromStdString(params_memory.get("RoadName"));
+  roadName = QString::fromStdString(mapdOut.getRoadName());
  slcOverriddenSpeed = frogpilotPlan.getSlcOverriddenSpeed();
  speedLimit = slcOverriddenSpeed != 0 ? slcOverriddenSpeed : frogpilotPlan.getSlcSpeedLimit();
  speedLimitChanged = frogpilotPlan.getSpeedLimitChanged();
@@ -1,7 +1,3 @@
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-
 #include "frogpilot/ui/qt/widgets/navigation_functions.h"

 MapSelectionControl::MapSelectionControl(const QMap<QString, QString> &map, bool isCountry) : selectionType(isCountry ? "nations" : "states") {
@@ -28,11 +24,15 @@ MapSelectionControl::MapSelectionControl(const QMap<QString, QString> &map, bool
 }

 void MapSelectionControl::loadSelectedMaps() {
-  QJsonObject existingMaps = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))).object();
+  QString mapsSelected = QString::fromStdString(params.get("MapsSelected"));
+  QStringList mapList = mapsSelected.split(",", QString::SkipEmptyParts);
+  QString prefix = (selectionType == "nations") ? "nation." : "us_state.";

  QSet<QString> selectedMaps;
-  for (const QJsonValue &value : existingMaps.value(selectionType).toArray()) {
-    selectedMaps.insert(value.toString());
+  for (const QString &map : mapList) {
+    if (map.startsWith(prefix)) {
+      selectedMaps.insert(map.mid(prefix.length()));
+    }
  }

  for (QAbstractButton *button : mapButtons->buttons()) {
@@ -41,22 +41,23 @@ void MapSelectionControl::loadSelectedMaps() {
 }

 void MapSelectionControl::updateSelectedMaps() {
-  QJsonObject existingMaps = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))).object();
+  QString mapsSelected = QString::fromStdString(params.get("MapsSelected"));
+  QStringList mapList = mapsSelected.split(",", QString::SkipEmptyParts);
+  QString prefix = (selectionType == "nations") ? "nation." : "us_state.";

-  QSet<QString> selectedMaps;
-  for (const QJsonValue &value : existingMaps.value(selectionType).toArray()) {
-    selectedMaps.insert(value.toString());
-  }
-
-  for (QAbstractButton *button : mapButtons->buttons()) {
-    QString mapKey = button->property("mapKey").toString();
-    if (button->isChecked()) {
-      selectedMaps.insert(mapKey);
-    } else {
-      selectedMaps.remove(mapKey);
+  QStringList newMapList;
+  for (const QString &map : mapList) {
+    if (!map.startsWith(prefix)) {
+      newMapList.append(map);
    }
  }

-  existingMaps[selectionType] = QJsonArray::fromStringList(selectedMaps.values());
-  params.putNonBlocking("MapsSelected", QJsonDocument(existingMaps).toJson(QJsonDocument::Compact).toStdString());
+  for (QAbstractButton *button : mapButtons->buttons()) {
+    if (button->isChecked()) {
+      newMapList.append(prefix + button->property("mapKey").toString());
+    }
+  }
+
+  newMapList.sort();
+  params.putNonBlocking("MapsSelected", newMapList.join(",").toStdString());
 }