FrogPilot 0.9.7

2026-10-01 03:43:46 +08:00 · 2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
@@ -0,0 +1,120 @@
+# PFEIFER - MAPD - Modified by FrogAi for FrogPilot
+#!/usr/bin/env python3
+import http.client
+import json
+import os
+import shutil
+import stat
+import subprocess
+import time
+import urllib.error
+import urllib.request
+
+import openpilot.system.sentry as sentry
+
+from pathlib import Path
+
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import is_url_pingable
+from openpilot.selfdrive.frogpilot.frogpilot_variables import MAPD_PATH, MAPS_PATH
+
+VERSION = "v1"
+
+GITHUB_VERSION_URL = f"https://github.com/FrogAi/FrogPilot-Resources/raw/Versions/mapd_version_{VERSION}.json"
+GITLAB_VERSION_URL = f"https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/Versions/mapd_version_{VERSION}.json"
+
+VERSION_PATH = Path("/data/media/0/osm/mapd_version")
+
+def fix_permissions():
+  try:
+    current_permissions = stat.S_IMODE(os.lstat(MAPD_PATH).st_mode)
+    desired_permissions = current_permissions | stat.S_IEXEC
+
+    if current_permissions != desired_permissions:
+      print(f"{MAPD_PATH} has the wrong permissions. Attempting to fix...")
+      os.chmod(MAPD_PATH, desired_permissions)
+  except OSError as error:
+    sentry.capture_exception(error)
+
+def download():
+  while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
+    time.sleep(60)
+
+  latest_version = get_latest_version()
+
+  urls = [
+    f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{latest_version}/mapd",
+    f"https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/Mapd/{latest_version}"
+  ]
+
+  os.makedirs(os.path.dirname(MAPD_PATH), exist_ok=True)
+  os.chmod(os.path.dirname(MAPD_PATH), 0o755)
+
+  for url in urls:
+    try:
+      with urllib.request.urlopen(url) as response:
+        with open(MAPD_PATH, 'wb') as output:
+          shutil.copyfileobj(response, output)
+          os.fsync(output.fileno())
+          fix_permissions()
+      with open(VERSION_PATH, 'w') as version_file:
+        version_file.write(latest_version)
+        os.fsync(version_file.fileno())
+      return
+    except http.client.IncompleteRead as error:
+      print(f"IncompleteRead error when downloading mapd from {url}: {error}")
+    except http.client.RemoteDisconnected as error:
+      print(f"RemoteDisconnected error when downloading mapd from {url}: {error}")
+    except urllib.error.URLError as error:
+      print(f"Failed to download mapd from {url}: {error}")
+    except Exception as error:
+      print(f"Failed to download mapd from {url}: {error}")
+      sentry.capture_exception(error)
+
+def get_latest_version():
+  for url in [GITHUB_VERSION_URL, GITLAB_VERSION_URL]:
+    try:
+      with urllib.request.urlopen(url, timeout=5) as response:
+        return json.loads(response.read().decode('utf-8'))['version']
+    except TimeoutError as error:
+      print(f"Timeout while fetching mapd version from {url}: {error}")
+    except urllib.error.URLError as error:
+      print(f"URLError encountered for {url}: {error}")
+    except Exception as error:
+      print(f"Error fetching mapd version from {url}: {error}")
+      sentry.capture_exception(error)
+  print("Failed to get the latest mapd version")
+  return "v0"
+
+def mapd_thread():
+  while True:
+    try:
+      if not os.path.exists(MAPD_PATH):
+        print(f"{MAPD_PATH} not found. Downloading...")
+        download()
+        continue
+      else:
+        fix_permissions()
+
+      if not os.path.exists(VERSION_PATH):
+        download()
+        continue
+      with open(VERSION_PATH) as version_file:
+        current_version = version_file.read().strip()
+        if is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com"):
+          if current_version != get_latest_version():
+            print("New mapd version available. Downloading...")
+            download()
+            continue
+
+      process = subprocess.Popen(MAPD_PATH)
+      process.wait()
+    except Exception as error:
+      print(f"Error in mapd_thread: {error}")
+      sentry.capture_exception(error)
+      time.sleep(60)
+
+def main():
+  mapd_thread()
+
+if __name__ == "__main__":
+  main()