mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 16:26:06 +08:00
Update mapd to v2
This commit is contained in:
James
+117
-3
@@ -254,11 +254,125 @@ struct CustomReserved15 @0xbd443b539493bc68 {
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struct CustomReserved16 @0xfc6241ed8877b611 {
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}
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struct CustomReserved17 @0xa30662f84033036c {
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struct MapdDownloadLocationDetails @0xff889853e7b0987f {
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location @0 :Text;
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totalFiles @1 :UInt32;
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downloadedFiles @2 :UInt32;
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}
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struct CustomReserved18 @0xc86a3d38d13eb3ef {
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struct MapdDownloadProgress @0xfaa35dcac85073a2 {
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active @0 :Bool;
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cancelled @1 :Bool;
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totalFiles @2 :UInt32;
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downloadedFiles @3 :UInt32;
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locations @4 :List(Text);
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locationDetails @5 :List(MapdDownloadLocationDetails);
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}
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struct CustomReserved19 @0xa4f1eb3323f5f582 {
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struct MapdPathPoint @0xd6f78acca1bc3939 {
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latitude @0 :Float64;
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longitude @1 :Float64;
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curvature @2 :Float32;
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targetVelocity @3 :Float32;
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}
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struct MapdExtendedOut @0xa30662f84033036c {
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downloadProgress @0 :MapdDownloadProgress;
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settings @1 :Text;
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path @2 :List(MapdPathPoint);
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}
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enum MapdInputType {
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download @0;
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setTargetLateralAccel @1;
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setSpeedLimitOffset @2;
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setSpeedLimitControl @3;
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setMapCurveSpeedControl @4;
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setVisionCurveSpeedControl @5;
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setLogLevel @6;
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setVisionCurveTargetLatA @7;
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setVisionCurveMinTargetV @8;
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reloadSettings @9;
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saveSettings @10;
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setEnableSpeed @11;
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setVisionCurveUseEnableSpeed @12;
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setMapCurveUseEnableSpeed @13;
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setSpeedLimitUseEnableSpeed @14;
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setHoldLastSeenSpeedLimit @15;
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setTargetSpeedJerk @16;
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setTargetSpeedAccel @17;
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setTargetSpeedTimeOffset @18;
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setDefaultLaneWidth @19;
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setMapCurveTargetLatA @20;
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loadDefaultSettings @21;
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loadRecommendedSettings @22;
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setSlowDownForNextSpeedLimit @23;
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setSpeedUpForNextSpeedLimit @24;
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setHoldSpeedLimitWhileChangingSetSpeed @25;
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loadPersistentSettings @26;
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cancelDownload @27;
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setLogJson @28;
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setLogSource @29;
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setExternalSpeedLimitControl @30;
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setExternalSpeedLimit @31;
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setSpeedLimitPriority @32;
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setSpeedLimitChangeRequiresAccept @33;
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acceptSpeedLimit @34;
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setPressGasToAcceptSpeedLimit @35;
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setAdjustSetSpeedToAcceptSpeedLimit @36;
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setAcceptSpeedLimitTimeout @37;
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setPressGasToOverrideSpeedLimit @38;
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}
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enum WaySelectionType {
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current @0;
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predicted @1;
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possible @2;
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extended @3;
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fail @4;
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}
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enum SpeedLimitOffsetType {
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static @0;
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percent @1;
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}
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struct MapdIn @0xc86a3d38d13eb3ef {
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type @0 :MapdInputType;
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float @1 :Float32;
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str @2 :Text;
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bool @3 :Bool;
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}
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enum RoadContext {
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freeway @0;
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city @1;
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unknown @2;
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}
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struct MapdOut @0xa4f1eb3323f5f582 {
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wayName @0 :Text;
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wayRef @1 :Text;
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roadName @2 :Text;
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speedLimit @3 :Float32;
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nextSpeedLimit @4 :Float32;
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nextSpeedLimitDistance @5 :Float32;
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hazard @6 :Text;
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nextHazard @7 :Text;
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nextHazardDistance @8 :Float32;
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advisorySpeed @9 :Float32;
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nextAdvisorySpeed @10 :Float32;
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nextAdvisorySpeedDistance @11 :Float32;
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oneWay @12 :Bool;
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lanes @13 :UInt8;
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tileLoaded @14 :Bool;
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speedLimitSuggestedSpeed @15 :Float32;
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suggestedSpeed @16 :Float32;
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estimatedRoadWidth @17 :Float32;
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roadContext @18 :RoadContext;
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distanceFromWayCenter @19 :Float32;
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visionCurveSpeed @20 :Float32;
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mapCurveSpeed @21 :Float32;
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waySelectionType @22 :WaySelectionType;
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speedLimitAccepted @23 :Bool;
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}
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+3
-3
@@ -2642,9 +2642,9 @@ struct Event {
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customReserved14 @140 :Custom.CustomReserved14;
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customReserved15 @141 :Custom.CustomReserved15;
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customReserved16 @142 :Custom.CustomReserved16;
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customReserved17 @143 :Custom.CustomReserved17;
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customReserved18 @144 :Custom.CustomReserved18;
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customReserved19 @145 :Custom.CustomReserved19;
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mapdExtendedOut @143 :Custom.MapdExtendedOut;
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mapdIn @144 :Custom.MapdIn;
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mapdOut @145 :Custom.MapdOut;
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# *********** legacy + deprecated ***********
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model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
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@@ -113,6 +113,9 @@ _services: dict[str, tuple] = {
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"frogpilotPlan": (True, 20., 10),
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"frogpilotRadarState": (True, 20., 5),
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"frogpilotSelfdriveState": (True, 100., 10),
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"mapdExtendedOut": (True, 1., 1, QueueSize.MEDIUM),
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"mapdIn": (True, 1., 1, QueueSize.MEDIUM),
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"mapdOut": (True, 20., 20, QueueSize.MEDIUM),
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}
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SERVICE_LIST = {name: Service(*vals) for
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idx, (name, vals) in enumerate(_services.items())}
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@@ -162,6 +162,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
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{"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
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{"CameraView", {PERSISTENT, INT, "3", "0", 2}},
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{"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"CancelThemeDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"CarMake", {PERSISTENT, STRING, "mock", "mock", 0}},
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@@ -210,10 +211,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2}},
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{"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0}},
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{"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
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{"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
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{"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
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{"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"DownloadableColors", {PERSISTENT, STRING, "", ""}},
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{"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
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{"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
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@@ -221,6 +222,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"DownloadableSounds", {PERSISTENT, STRING, "", ""}},
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{"DownloadableWheels", {PERSISTENT, STRING, "", ""}},
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{"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
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{"DrivingModel", {PERSISTENT, STRING, "wmi-model_default", "wmi-model_default", 1}},
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{"DrivingModelName", {PERSISTENT, STRING, "WMI model (Default)", "WMI model (Default)", 1}},
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@@ -295,9 +297,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
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{"MapboxSecretKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
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{"MapDeceleration", {PERSISTENT, BOOL, "0", "0", 1}},
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{"MapdLogLevel", {CLEAR_ON_MANAGER_START, STRING, "0", "0"}},
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{"MapdSettings", {PERSISTENT, JSON, "{}", "{}"}},
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{"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
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{"MapsSelected", {PERSISTENT, JSON, "{}", "{}", 0}},
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{"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
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{"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
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{"MaxDesiredAcceleration", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
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{"MinimumBackupSize", {PERSISTENT, INT, "0", "0"}},
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@@ -308,7 +310,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
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{"NNFF", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NNFFLite", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
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@@ -327,10 +328,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"OnroadDistanceButton", {PERSISTENT, BOOL, "0", "0", 0}},
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{"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
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{"OSMDownloadLocations", {PERSISTENT, JSON, "{}", "{}"}},
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{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
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{"PathEdgeWidth", {PERSISTENT, FLOAT, "20", "0", 2}},
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{"PathEdgeWidth", {PERSISTENT, FLOAT, "20.0", "0.0", 2}},
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{"PathWidth", {PERSISTENT, FLOAT, "6.1", "5.9", 2}},
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{"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1}},
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@@ -365,7 +364,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
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{"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
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{"RoadName", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1}},
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{"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2}},
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@@ -9,6 +9,7 @@ import time
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from pathlib import Path
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from cereal import messaging
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.common.time_helpers import system_time_valid
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@@ -19,7 +20,7 @@ from openpilot.frogpilot.assets.theme_manager import ThemeManager
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from openpilot.frogpilot.common.frogpilot_backups import backup_frogpilot
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from openpilot.frogpilot.common.frogpilot_utilities import is_FrogsGoMoo, run_cmd, use_konik_server
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from openpilot.frogpilot.common.frogpilot_variables import (
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DISCORD_WEBHOOK_URL_REPORT, ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPD_PATH, MAPS_PATH, THEME_SAVE_PATH,
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DISCORD_WEBHOOK_URL_REPORT, ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
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FrogPilotVariables, get_frogpilot_toggles
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)
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@@ -66,6 +67,21 @@ def capture_report(discord_user, report, frogpilot_toggles):
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def frogpilot_boot_functions(build_metadata, params):
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params_memory = Params(memory=True)
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maps_selected = params.get("MapsSelected")
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if maps_selected:
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try:
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data = json.loads(maps_selected)
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if isinstance(data, dict):
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new_items = []
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for nation in data.get("nations", []):
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new_items.append(f"nation.{nation}")
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for state in data.get("states", []):
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new_items.append(f"us_state.{state}")
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new_items.sort()
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params.put("MapsSelected", ",".join(new_items))
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except (json.JSONDecodeError, TypeError, ValueError):
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pass
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FrogPilotVariables()
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ThemeManager(params, params_memory, boot_run=True).update_active_theme(time_validated=system_time_valid(), frogpilot_toggles=get_frogpilot_toggles(), boot_run=True)
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@@ -138,12 +154,9 @@ def update_boot_logo(frogpilot=False, stock=False):
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run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/"], "Successfully restored / mount options", "Failed to restore / mount options")
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def update_maps(now, params, params_memory):
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while not MAPD_PATH.exists():
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time.sleep(60)
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def update_maps(now, params, params_memory, manual_update=False):
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maps_selected = params.get("MapsSelected")
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if not maps_selected or not (maps_selected.get("nations") or maps_selected.get("states")):
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if not maps_selected:
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return
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day = now.day
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@@ -152,22 +165,49 @@ def update_maps(now, params, params_memory):
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schedule = params.get("PreferredSchedule")
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maps_downloaded = MAPS_PATH.exists()
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if maps_downloaded and (schedule == 0 or (schedule == 1 and not is_sunday) or (schedule == 2 and not is_first)):
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if maps_downloaded and (schedule == 0 or (schedule == 1 and not is_sunday) or (schedule == 2 and not is_first)) and not manual_update:
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return
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suffix = "th" if 11 <= day <= 13 else {1: "st", 2: "nd", 3: "rd"}.get(day % 10, "th")
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todays_date = now.strftime(f"%B {day}{suffix}, %Y")
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if maps_downloaded and params.get("LastMapsUpdate") == todays_date:
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if maps_downloaded and params.get("LastMapsUpdate") == todays_date and not manual_update:
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return
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if params.get("OSMDownloadProgress") is None:
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params_memory.put("OSMDownloadLocations", maps_selected)
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pm = messaging.PubMaster(["mapdIn"])
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sm = messaging.SubMaster(["mapdExtendedOut"])
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while params.get("OSMDownloadProgress") is not None:
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time.sleep(60)
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time.sleep(1)
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msg = messaging.new_message("mapdIn")
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msg.mapdIn.type = 0
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msg.mapdIn.str = maps_selected
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pm.send("mapdIn", msg)
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started = False
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while True:
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sm.update(1000)
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if params_memory.get_bool("CancelDownloadMaps"):
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msg = messaging.new_message("mapdIn")
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msg.mapdIn.type = 27
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pm.send("mapdIn", msg)
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params_memory.remove("CancelDownloadMaps")
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params_memory.remove("DownloadMaps")
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return
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if sm.updated["mapdExtendedOut"]:
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progress = sm["mapdExtendedOut"].downloadProgress
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if progress.active:
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started = True
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if not progress.active and started:
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break
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params.put("LastMapsUpdate", todays_date)
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params_memory.remove("DownloadMaps")
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||||
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def update_openpilot(thread_manager, params):
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@@ -71,7 +71,6 @@ HD_PATH = Path("/cache/use_HD")
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KONIK_LOGS_PATH = Path("/data/media/0/realdata_konik")
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KONIK_PATH = Path("/cache/use_konik")
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||||
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||||
MAPD_PATH = Path("/data/media/0/osm/mapd")
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||||
MAPS_PATH = Path("/data/media/0/osm/offline")
|
||||
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NNFF_MODELS_PATH = Path(BASEDIR) / "frogpilot/assets/nnff_models"
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@@ -9,7 +9,7 @@ from concurrent.futures import ThreadPoolExecutor
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from openpilot.common.constants import CV
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from openpilot.common.realtime import DT_MDL
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from openpilot.frogpilot.common.frogpilot_utilities import calculate_bearing_offset, calculate_distance_to_point, is_url_pingable
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from openpilot.frogpilot.common.frogpilot_utilities import calculate_bearing_offset, is_url_pingable
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||||
|
||||
FREE_MAPBOX_REQUESTS = 100_000
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||||
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@@ -239,7 +239,7 @@ class SpeedLimitController:
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self.frogpilot_planner.params.put_nonblocking("PreviousSpeedLimit", self.target)
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||||
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||||
def update_limits(self, dashboard_speed_limit, now, time_validated, v_cruise, v_ego, sm):
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self.update_map_speed_limit(v_ego)
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self.update_map_speed_limit(v_ego, sm)
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||||
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||||
limits = {
|
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"Dashboard": dashboard_speed_limit,
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@@ -302,24 +302,11 @@ class SpeedLimitController:
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||||
self.speed_limit_changed_timer = 0
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||||
self.unconfirmed_speed_limit = 0
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||||
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||||
def update_map_speed_limit(self, v_ego):
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if not self.frogpilot_planner.gps_position:
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||||
return
|
||||
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||||
self.map_speed_limit = self.frogpilot_planner.params_memory.get("MapSpeedLimit")
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||||
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||||
next_map_speed_limit = self.frogpilot_planner.params_memory.get("NextMapSpeedLimit")
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||||
self.next_speed_limit = next_map_speed_limit.get("speedlimit", 0)
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||||
|
||||
if self.next_speed_limit:
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||||
current_latitude = self.frogpilot_planner.gps_position.get("latitude")
|
||||
current_longitude = self.frogpilot_planner.gps_position.get("longitude")
|
||||
|
||||
next_latitude = next_map_speed_limit.get("latitude")
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||||
next_longitude = next_map_speed_limit.get("longitude")
|
||||
|
||||
distance_to_upcoming = calculate_distance_to_point(current_latitude, current_longitude, next_latitude, next_longitude)
|
||||
def update_map_speed_limit(self, v_ego, sm):
|
||||
self.map_speed_limit = sm["mapdOut"].speedLimit
|
||||
self.next_speed_limit = sm["mapdOut"].nextSpeedLimit
|
||||
|
||||
if self.next_speed_limit > 0:
|
||||
if self.map_speed_limit < self.next_speed_limit:
|
||||
max_lookahead = self.frogpilot_toggles.map_speed_lookahead_higher * v_ego
|
||||
elif self.map_speed_limit > self.next_speed_limit:
|
||||
@@ -327,7 +314,7 @@ class SpeedLimitController:
|
||||
else:
|
||||
max_lookahead = 0
|
||||
|
||||
if distance_to_upcoming < max_lookahead:
|
||||
if sm["mapdOut"].nextSpeedLimitDistance < max_lookahead:
|
||||
self.map_speed_limit = self.next_speed_limit
|
||||
|
||||
def update_override(self, v_cruise, v_cruise_diff, v_ego, v_ego_diff, sm):
|
||||
|
||||
@@ -19,7 +19,7 @@ from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking
|
||||
|
||||
ASSET_CHECK_RATE = (1 / DT_MDL)
|
||||
|
||||
def check_assets(theme_manager, thread_manager, params_memory, frogpilot_toggles):
|
||||
def check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles):
|
||||
for asset_type, asset_param in THEME_COMPONENT_PARAMS.items():
|
||||
asset_to_download = params_memory.get(asset_param)
|
||||
if asset_to_download:
|
||||
@@ -33,6 +33,9 @@ def check_assets(theme_manager, thread_manager, params_memory, frogpilot_toggles
|
||||
capture_report(report_data["DiscordUser"], report_data["Issue"], vars(frogpilot_toggles))
|
||||
params_memory.remove("IssueReported")
|
||||
|
||||
if params_memory.get_bool("DownloadMaps"):
|
||||
thread_manager.run_with_lock(update_maps, (now, params, params_memory, True))
|
||||
|
||||
def transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles):
|
||||
params.put("LastGPSPosition", json.dumps(frogpilot_planner.gps_position))
|
||||
|
||||
@@ -53,10 +56,10 @@ def update_checks(now, theme_manager, thread_manager, params, params_memory, fro
|
||||
while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
|
||||
time.sleep(60)
|
||||
|
||||
thread_manager.run_with_lock(update_maps, (now, params, params_memory))
|
||||
|
||||
theme_manager.update_themes(frogpilot_toggles, boot_run)
|
||||
|
||||
thread_manager.run_with_lock(update_maps, (now, params, params_memory))
|
||||
|
||||
if frogpilot_toggles.automatic_updates:
|
||||
thread_manager.run_with_lock(update_openpilot, (thread_manager, params))
|
||||
|
||||
@@ -89,7 +92,7 @@ def frogpilot_thread():
|
||||
sm = messaging.SubMaster(["carControl", "carState", "controlsState", "deviceState", "driverMonitoringState",
|
||||
"gpsLocation", "gpsLocationExternal", "liveParameters", "managerState", "modelV2",
|
||||
"onroadEvents", "pandaStates", "radarState", "selfdriveState", "frogpilotCarState",
|
||||
"frogpilotSelfdriveState", "frogpilotModelV2", "frogpilotOnroadEvents"],
|
||||
"frogpilotSelfdriveState", "frogpilotModelV2", "frogpilotOnroadEvents", "mapdOut"],
|
||||
poll="modelV2")
|
||||
|
||||
params = Params(return_defaults=True)
|
||||
@@ -141,7 +144,7 @@ def frogpilot_thread():
|
||||
started_previously = started
|
||||
|
||||
if rate_keeper.frame % ASSET_CHECK_RATE == 0:
|
||||
check_assets(theme_manager, thread_manager, params_memory, frogpilot_toggles)
|
||||
check_assets(now, theme_manager, thread_manager, params, params_memory, frogpilot_toggles)
|
||||
|
||||
if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_manager.theme_updated:
|
||||
frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles)
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -1,153 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
# PFEIFER - MAPD - Modified by FrogAi for FrogPilot
|
||||
import json
|
||||
import os
|
||||
import shutil
|
||||
import stat
|
||||
import subprocess
|
||||
import tempfile
|
||||
import time
|
||||
import urllib.request
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.params import Params
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import is_url_pingable
|
||||
from openpilot.frogpilot.common.frogpilot_variables import MAPD_PATH, RESOURCES_REPO
|
||||
|
||||
VERSION = "v2"
|
||||
|
||||
GITHUB_VERSION_URL = f"https://github.com/{RESOURCES_REPO}/raw/Versions/mapd_version_{VERSION}.json"
|
||||
GITLAB_VERSION_URL = f"https://gitlab.com/{RESOURCES_REPO}/-/raw/Versions/mapd_version_{VERSION}.json"
|
||||
|
||||
VERSION_PATH = Path("/data/media/0/osm/mapd_version")
|
||||
|
||||
def cleanup_temp_files():
|
||||
parent = MAPD_PATH.parent
|
||||
try:
|
||||
if not parent.exists() or not parent.is_dir():
|
||||
return
|
||||
except OSError as e:
|
||||
print(f"Skipping cleanup; cannot access {parent}: {e}")
|
||||
return
|
||||
try:
|
||||
for file in parent.glob("mapd*"):
|
||||
if file == MAPD_PATH or file == VERSION_PATH:
|
||||
continue
|
||||
if file.is_file():
|
||||
try:
|
||||
file.unlink()
|
||||
except Exception as exception:
|
||||
print(f"Failed to delete leftover file {file}: {exception}")
|
||||
except OSError as exception:
|
||||
print(f"Skipping cleanup in {parent} due to I/O error: {exception}")
|
||||
|
||||
def download():
|
||||
Path(MAPD_PATH).parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
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/{RESOURCES_REPO}/-/raw/Mapd/{latest_version}"
|
||||
]
|
||||
for url in urls:
|
||||
try:
|
||||
with urllib.request.urlopen(url) as response:
|
||||
with tempfile.NamedTemporaryFile("wb", delete=False, dir=MAPD_PATH.parent) as temp_file:
|
||||
shutil.copyfileobj(response, temp_file)
|
||||
temp_file_path = Path(temp_file.name)
|
||||
os.fsync(temp_file.fileno())
|
||||
|
||||
os.chmod(temp_file_path, os.stat(temp_file_path).st_mode | stat.S_IEXEC)
|
||||
os.rename(temp_file_path, MAPD_PATH)
|
||||
|
||||
with open(VERSION_PATH, "w") as version_file:
|
||||
version_file.write(latest_version)
|
||||
os.fsync(version_file.fileno())
|
||||
|
||||
return
|
||||
except Exception as exception:
|
||||
print(f"Failed to download mapd from {url}: {exception}")
|
||||
if "temp_file_path" in locals() and temp_file_path.exists():
|
||||
temp_file_path.unlink(missing_ok=True)
|
||||
|
||||
def get_latest_version():
|
||||
while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
|
||||
time.sleep(60)
|
||||
|
||||
for url in [GITHUB_VERSION_URL, GITLAB_VERSION_URL]:
|
||||
try:
|
||||
with urllib.request.urlopen(url, timeout=10) as response:
|
||||
return json.loads(response.read().decode("utf-8"))["version"]
|
||||
except Exception as exception:
|
||||
print(f"Error fetching mapd version from {url}: {exception}")
|
||||
return "v0"
|
||||
|
||||
def update_mapd():
|
||||
if not MAPD_PATH.exists():
|
||||
print(f"{MAPD_PATH} not found. Downloading...")
|
||||
download()
|
||||
return False
|
||||
|
||||
if not VERSION_PATH.exists():
|
||||
print(f"{VERSION_PATH} not found. Downloading mapd...")
|
||||
download()
|
||||
return False
|
||||
|
||||
if is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com"):
|
||||
try:
|
||||
with open(VERSION_PATH) as version_file:
|
||||
local_version = version_file.read().strip()
|
||||
if local_version != get_latest_version():
|
||||
print("New mapd version available. Updating...")
|
||||
download()
|
||||
return False
|
||||
else:
|
||||
return True
|
||||
except Exception as exception:
|
||||
print(f"Error checking version: {exception}")
|
||||
return False
|
||||
|
||||
if not os.access(MAPD_PATH, os.X_OK):
|
||||
print(f"{MAPD_PATH} is not executable. Fixing permissions...")
|
||||
try:
|
||||
os.chmod(MAPD_PATH, os.stat(MAPD_PATH).st_mode | stat.S_IEXEC)
|
||||
except Exception as exception:
|
||||
print(f"Failed to set executable permissions on {MAPD_PATH}: {exception}")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def mapd_thread():
|
||||
params_memory = Params(memory=True)
|
||||
|
||||
params_memory.put("MapdLogLevel", "disabled")
|
||||
|
||||
while True:
|
||||
try:
|
||||
cleanup_temp_files()
|
||||
except OSError as exception:
|
||||
print(f"Cleanup errored: {exception}")
|
||||
time.sleep(5)
|
||||
continue
|
||||
|
||||
while not update_mapd():
|
||||
time.sleep(60)
|
||||
continue
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(str(MAPD_PATH))
|
||||
process.wait()
|
||||
except FileNotFoundError as error:
|
||||
print(f"Subprocess failed: {error}")
|
||||
download()
|
||||
|
||||
def main():
|
||||
mapd_thread()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -50,7 +50,7 @@ class MapSpeedLogger:
|
||||
|
||||
self.gps_location_service = get_gps_location_service(self.params)
|
||||
|
||||
self.sm = messaging.SubMaster(["deviceState", "frogpilotCarState", "frogpilotPlan", self.gps_location_service, "modelV2"])
|
||||
self.sm = messaging.SubMaster(["deviceState", "frogpilotCarState", "frogpilotPlan", self.gps_location_service, "mapdOut", "modelV2"])
|
||||
|
||||
@property
|
||||
def can_make_overpass_request(self):
|
||||
@@ -227,7 +227,8 @@ class MapSpeedLogger:
|
||||
self.previous_coordinates = None
|
||||
return
|
||||
|
||||
road_name = self.params_memory.get("RoadName")
|
||||
road_name = self.sm["mapdOut"].roadName
|
||||
|
||||
if not road_name or not current_speed_source:
|
||||
return
|
||||
|
||||
|
||||
@@ -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());
|
||||
}
|
||||
|
||||
@@ -133,7 +133,7 @@ elif TICI:
|
||||
procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=5)),
|
||||
procs += [
|
||||
PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
|
||||
PythonProcess("mapd", "frogpilot.navigation.mapd", always_run),
|
||||
NativeProcess("mapd", "frogpilot/navigation", ["./mapd"], always_run),
|
||||
PythonProcess("speed_limit_filler", "frogpilot.system.speed_limit_filler", run_speed_limit_filler),
|
||||
]
|
||||
|
||||
|
||||
Reference in New Issue
Block a user