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https://github.com/firestar5683/StarPilot.git
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FrogPilot 0.9.7
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FrogAi
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#!/usr/bin/env python3
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from pathlib import Path
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import datetime
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import filecmp
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import glob
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import json
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import shutil
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import subprocess
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import tarfile
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import threading
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import time
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params_pyx import ParamKeyType
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from openpilot.common.time import system_time_valid
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from openpilot.system.hardware import HARDWARE
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from openpilot.selfdrive.frogpilot.assets.theme_manager import HOLIDAY_THEME_PATH, ThemeManager
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from openpilot.selfdrive.frogpilot.frogpilot_utilities import run_cmd
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from openpilot.selfdrive.frogpilot.frogpilot_variables import MODELS_PATH, THEME_SAVE_PATH, FrogPilotVariables, get_frogpilot_toggles, params
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def backup_directory(backup, destination, success_message, fail_message, minimum_backup_size=0, compressed=False):
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if compressed:
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destination_compressed = destination.with_suffix(".tar.gz")
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if destination_compressed.exists():
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print("Backup already exists. Aborting")
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return
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in_progress_destination = destination.parent / (destination.name + "_in_progress")
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run_cmd(["sudo", "rsync", "-avq", f"{backup}/.", in_progress_destination], "", fail_message)
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in_progress_compressed = destination_compressed.with_suffix(".tar.gz_in_progress")
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with tarfile.open(in_progress_compressed, "w:gz") as tar:
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tar.add(in_progress_destination, arcname=destination.name)
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run_cmd(["sudo", "rm", "-rf", in_progress_destination], success_message, fail_message)
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in_progress_compressed.rename(destination_compressed)
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compressed_backup_size = destination_compressed.stat().st_size
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if minimum_backup_size == 0 or compressed_backup_size < minimum_backup_size:
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params.put_int("MinimumBackupSize", compressed_backup_size)
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else:
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if destination.exists():
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print("Backup already exists. Aborting")
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return
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run_cmd(["sudo", "rsync", "-avq", f"{backup}/.", destination], success_message, fail_message)
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def cleanup_backups(directory, limit, success_message, fail_message, compressed=False):
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directory.mkdir(parents=True, exist_ok=True)
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backups = sorted(directory.glob("*_auto*"), key=lambda x: x.stat().st_mtime, reverse=True)
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for backup in backups[:]:
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if backup.name.endswith("_in_progress") or backup.name.endswith("_in_progress.tar.gz"):
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run_cmd(["sudo", "rm", "-rf", backup], "", fail_message)
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backups.remove(backup)
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for oldest_backup in backups[limit:]:
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if oldest_backup.is_dir():
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run_cmd(["sudo", "rm", "-rf", oldest_backup], success_message, fail_message)
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else:
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run_cmd(["sudo", "rm", oldest_backup], success_message, fail_message)
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def backup_frogpilot(build_metadata):
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backup_path = Path("/data/backups")
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maximum_backups = 5
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cleanup_backups(backup_path, maximum_backups, "Successfully cleaned up old FrogPilot backups", "Failed to cleanup old FrogPilot backups", compressed=True)
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_, _, free = shutil.disk_usage(backup_path)
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minimum_backup_size = params.get_int("MinimumBackupSize")
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if free > minimum_backup_size * maximum_backups:
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directory = Path(BASEDIR)
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destination_directory = backup_path / f"{build_metadata.channel}_{build_metadata.openpilot.git_commit_date[12:-16]}_auto"
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backup_directory(directory, destination_directory, f"Successfully backed up FrogPilot to {destination_directory}", f"Failed to backup FrogPilot to {destination_directory}", minimum_backup_size, compressed=True)
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def backup_toggles(params_storage):
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for key in params.all_keys():
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if params.get_key_type(key) & ParamKeyType.PERSISTENT:
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value = params.get(key)
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if value is not None:
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params_storage.put(key, value)
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backup_path = Path("/data/toggle_backups")
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maximum_backups = 10
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cleanup_backups(backup_path, maximum_backups, "Successfully cleaned up old toggle backups", "Failed to cleanup old toggle backups")
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directory = Path("/data/params/d")
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destination_directory = backup_path / f"{datetime.datetime.now().strftime('%Y-%m-%d_%I-%M%p').lower()}_auto"
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backup_directory(directory, destination_directory, f"Successfully backed up toggles to {destination_directory}", f"Failed to backup toggles to {destination_directory}")
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def convert_params(params_storage):
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print("Starting to convert params")
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def update_values(keys, mappings):
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for key in keys:
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for original, replacement in mappings.items():
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if params.get(key, encoding='utf-8') == original:
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params.put(key, replacement)
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if params_storage.get(key, encoding='utf-8') == original:
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params_storage.put(key, replacement)
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priority_keys = ["SLCPriority1", "SLCPriority2", "SLCPriority3"]
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update_values(priority_keys, {"Offline Maps": "Map Data"})
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bottom_key = ["StartupMessageBottom"]
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update_values(bottom_key, {"so I do what I want 🐸": "Human-tested, frog-approved 🐸"})
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top_key = ["StartupMessageTop"]
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update_values(top_key, {"Hippity hoppity this is my property": "Hop in and buckle up!"})
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models = [
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("Certified Herbalist", "CertifiedHerbalistDrives", "CertifiedHerbalistScore"),
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("Dissolved Oxygen", "DissolvedOxygenDrives", "DissolvedOxygenScore"),
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("Duck Amigo", "DuckAmigoDrives", "DuckAmigoScore"),
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("Los Angeles", "LosAngelesDrives", "LosAngelesScore"),
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("North Dakota", "NorthDakotaDrives", "NorthDakotaScore"),
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("Notre Dame", "NotreDameDrives", "NotreDameScore"),
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("Radical Turtle", "RadicalTurtleDrives", "RadicalTurtleScore"),
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("Recertified Herbalist", "RecertifiedHerbalistDrives", "RecertifiedHerbalistScore"),
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("SecretGoodOpenpilot", "SecretGoodOpenpilotDrives", "SecretGoodOpenpilotScore"),
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("WD-40", "WD40Drives", "WD40Score")
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]
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try:
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model_drives_and_scores = json.loads(params.get("ModelDrivesAndScores") or "{}")
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except Exception as error:
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print(f"Error parsing ModelDrivesAndScores JSON: {error}. Initializing empty structure")
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model_drives_and_scores = {}
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for model, drives_param, score_param in models:
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drives = params.get_int(drives_param)
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score = params.get_int(score_param)
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if drives > 0 or score > 0:
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model_drives_and_scores[model] = {
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"Drives": drives,
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"Score": score
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}
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params.remove(drives_param)
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params_storage.remove(drives_param)
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params.remove(score_param)
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params_storage.remove(score_param)
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params.put("ModelDrivesAndScores", json.dumps(model_drives_and_scores))
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print("Param conversion completed")
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def frogpilot_boot_functions(build_metadata, params_storage):
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if params.get_bool("HasAcceptedTerms"):
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params_storage.clear_all()
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source = THEME_SAVE_PATH / "distance_icons"
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destination = THEME_SAVE_PATH / "theme_packs"
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if source.exists():
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for item in source.iterdir():
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if item.is_dir():
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destination_path = destination / item.name / "distance_icons"
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destination_path.mkdir(parents=True, exist_ok=True)
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for sub_item in item.iterdir():
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destination_file = destination_path / sub_item.name
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if destination_file.exists():
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destination_file.unlink()
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shutil.move(sub_item, destination_path)
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if not any(item.iterdir()):
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item.rmdir()
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if not any(source.iterdir()):
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source.rmdir()
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FrogPilotVariables().update(holiday_theme="stock", started=False)
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ThemeManager().update_active_theme(time_validated=system_time_valid(), frogpilot_toggles=get_frogpilot_toggles(), boot_run=True)
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def backup_thread():
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while not system_time_valid():
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print("Waiting for system time to become valid...")
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time.sleep(1)
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subprocess.run(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], check=False)
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backup_frogpilot(build_metadata)
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backup_toggles(params_storage)
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threading.Thread(target=backup_thread, daemon=True).start()
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def setup_frogpilot(build_metadata):
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run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist")
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Path(MODELS_PATH).mkdir(parents=True, exist_ok=True)
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Path(THEME_SAVE_PATH).mkdir(parents=True, exist_ok=True)
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for source_suffix, destination_suffix in [
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("world_frog_day/colors", "theme_packs/frog/colors"),
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("world_frog_day/distance_icons", "theme_packs/frog-animated/distance_icons"),
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("world_frog_day/icons", "theme_packs/frog-animated/icons"),
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("world_frog_day/signals", "theme_packs/frog/signals"),
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("world_frog_day/sounds", "theme_packs/frog/sounds"),
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]:
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source = Path(HOLIDAY_THEME_PATH) / source_suffix
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destination = Path(THEME_SAVE_PATH) / destination_suffix
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destination.mkdir(parents=True, exist_ok=True)
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shutil.copytree(source, destination, dirs_exist_ok=True)
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for source_suffix, destination_suffix in [
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("world_frog_day/steering_wheel/wheel.png", "steering_wheels/frog.png"),
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]:
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source = Path(HOLIDAY_THEME_PATH) / source_suffix
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destination = Path(THEME_SAVE_PATH) / destination_suffix
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destination.parent.mkdir(parents=True, exist_ok=True)
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shutil.copy2(source, destination)
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run_cmd(["sudo", "mount", "-o", "remount,rw", "/"], "Successfully remounted the file system as read-write", "Failed to remount the file system")
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boot_logo_location = Path("/usr/comma/bg.jpg")
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frogpilot_boot_logo = Path(__file__).parent / "assets/other_images/frogpilot_boot_logo.png"
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if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False):
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run_cmd(["sudo", "cp", frogpilot_boot_logo, boot_logo_location], "Successfully replaced boot logo", "Failed to replace boot logo")
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if build_metadata.channel == "FrogPilot-Development":
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subprocess.run(["sudo", "python3", "/persist/frogsgomoo.py"], check=True)
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def uninstall_frogpilot():
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boot_logo_location = Path("/usr/comma/bg.jpg")
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stock_boot_logo = Path(__file__).parent / "assets/other_images/original_bg.jpg"
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run_cmd(["sudo", "cp", stock_boot_logo, boot_logo_location], "Successfully restored the stock boot logo", "Failed to restore the stock boot logo")
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HARDWARE.uninstall()
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