mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
68 lines
3.0 KiB
Python
Executable File
68 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Explicit Linux ARM64 Mapd shadow package build; never starts the provider."""
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import argparse
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import hashlib
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import json
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import os
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from pathlib import Path
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import shutil
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import subprocess
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import tempfile
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from openpilot.starpilot.maps.artifact import elf_arm64_static, source_digest
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ROOT = Path(__file__).resolve().parents[3]
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SOURCE = ROOT / 'mapd_repo'
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DEFAULT_OUTPUT = ROOT / 'openpilot/starpilot/maps/provider'
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def package(*, go: str, output: Path) -> dict:
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go_path = shutil.which(go)
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if go_path is None:
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raise ValueError('pinned Go toolchain is unavailable')
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version = subprocess.check_output([go_path, 'version'], text=True).split()
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if len(version) < 3 or version[2] != 'go1.25.1':
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raise ValueError('Mapd shadow package requires Go 1.25.1')
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pin = json.loads((ROOT / 'upstream-sync.json').read_text())
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revision = next(item['commit'] for item in pin['dependencies'] if item['path'] == 'mapd_repo')
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digest = source_digest(SOURCE)
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commit = subprocess.check_output(['git', 'rev-parse', 'HEAD'], cwd=ROOT, text=True).strip()
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output.mkdir(parents=True, exist_ok=True)
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with tempfile.TemporaryDirectory(prefix='mapd-shadow-build-') as temporary:
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binary = Path(temporary) / 'mapd'
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stamps = f'-extldflags=-static -s -w -X main.sourceRevision={commit} -X main.upstreamRevision={revision} -X main.sourceDigest={digest}'
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env = dict(os.environ, GOTOOLCHAIN='local', GOPROXY='off', GOSUMDB='off')
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subprocess.run([go_path, 'build', '-mod=readonly', '-trimpath', '-tags', 'netgo,osusergo', '-buildvcs=true',
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'-ldflags', stamps, '-o', str(binary), '.'], cwd=SOURCE, env=env, check=True)
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if source_digest(SOURCE) != digest or not elf_arm64_static(binary):
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raise ValueError('source changed during build or binary is not static Linux ARM64')
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data = binary.read_bytes()
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if any(stamp.encode() not in data for stamp in (commit, revision, digest)):
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raise ValueError('binary is missing exact source stamps')
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manifest = {'schemaVersion': 1, 'sourceRevision': commit, 'sourceDigest': digest,
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'upstreamRevision': revision, 'goVersion': version[2], 'target': 'linux-arm64-static',
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'binarySha256': hashlib.sha256(data).hexdigest()}
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staged = output / '.mapd-new'
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staged.write_bytes(data)
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staged.chmod(0o755)
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os.replace(staged, output / 'mapd')
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staged_manifest = output / '.manifest-new'
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staged_manifest.write_text(json.dumps(manifest, sort_keys=True, separators=(',', ':')) + '\n')
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os.replace(staged_manifest, output / 'manifest.json')
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return manifest
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument('--go', default='go', help='Go 1.25.1 executable')
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parser.add_argument('--output', type=Path, default=DEFAULT_OUTPUT, help='generated package directory')
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args = parser.parse_args()
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print(json.dumps(package(go=args.go, output=args.output.resolve()), sort_keys=True))
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return 0
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if __name__ == '__main__':
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raise SystemExit(main())
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