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>
94 lines
4.5 KiB
Bash
Executable File
94 lines
4.5 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Explicit, offline Linux/ARM64 Go package for the opt-in Mapd shadow owner.
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
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OUTPUT_DIR="${ROOT_DIR}/openpilot/starpilot/maps/provider"
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MODULE_CACHE="${COMMA_MAPD_MODULE_CACHE:-${ROOT_DIR}/.cache/mapd-go-modules}"
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BUILD_CACHE="${COMMA_MAPD_BUILD_CACHE:-${ROOT_DIR}/.cache/mapd-go-build}"
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IMAGE="${COMMA_MAPD_BUILD_IMAGE:-openpilot-local-mapd-builder:go1.25.1}"
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if [[ $# -ne 0 ]]; then
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echo 'ERROR: build_mapd_provider.sh takes no arguments; use ./build --mapd' >&2
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exit 2
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fi
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if [[ "${MODULE_CACHE}" != /* ]]; then MODULE_CACHE="${ROOT_DIR}/${MODULE_CACHE}"; fi
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if [[ "${BUILD_CACHE}" != /* ]]; then BUILD_CACHE="${ROOT_DIR}/${BUILD_CACHE}"; fi
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if [[ ! -d "${MODULE_CACHE}" ]]; then
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echo "ERROR: offline Go module cache missing: ${MODULE_CACHE}" >&2
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echo 'Prepare it explicitly from mapd_repo/go.mod and go.sum with Go 1.25.1, then set COMMA_MAPD_MODULE_CACHE.' >&2
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exit 1
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fi
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# Only a direct child of the checkout's ignored cache may be written. Check
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# before mkdir so a misplaced override never creates files in another tree.
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[[ "$(dirname "${BUILD_CACHE}")" == "${ROOT_DIR}/.cache" &&
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"$(basename "${BUILD_CACHE}")" != . && "$(basename "${BUILD_CACHE}")" != .. ]] || {
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echo 'ERROR: COMMA_MAPD_BUILD_CACHE must resolve beneath this checkout .cache' >&2
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exit 1
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}
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[[ ! -L "${ROOT_DIR}/.cache" && ! -L "${BUILD_CACHE}" && ! -L "${OUTPUT_DIR}" ]] || {
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echo 'ERROR: Mapd build cache or output cannot be a symlink' >&2
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exit 1
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}
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[[ "$(cd "$(dirname "${OUTPUT_DIR}")" && pwd -P)" == "${ROOT_DIR}/openpilot/starpilot/maps" ]] || {
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echo 'ERROR: Mapd provider parent resolves outside checkout' >&2
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exit 1
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}
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mkdir -p "${ROOT_DIR}/.cache" "${BUILD_CACHE}" "${OUTPUT_DIR}"
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[[ "$(cd "${BUILD_CACHE}" && pwd -P)" == "${ROOT_DIR}/.cache/"* ]] || {
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echo 'ERROR: Mapd build cache resolves outside checkout' >&2
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exit 1
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}
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[[ "$(cd "${OUTPUT_DIR}" && pwd -P)" == "${ROOT_DIR}/openpilot/starpilot/maps/provider" ]] || {
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echo 'ERROR: Mapd package output directory must remain inside this checkout' >&2
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exit 1
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}
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MODULE_CACHE="$(cd "${MODULE_CACHE}" && pwd -P)"
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if [[ "$(uname -s)" == Linux && "$(uname -m)" == aarch64 ]]; then
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GO="${COMMA_MAPD_GO:-$(command -v go || true)}"
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[[ -n "${GO}" ]] || { echo 'ERROR: explicit Go 1.25.1 toolchain required' >&2; exit 1; }
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cd "${ROOT_DIR}"
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GOTOOLCHAIN=local GOPROXY=off GOSUMDB=off GOMODCACHE="${MODULE_CACHE}" GOCACHE="${BUILD_CACHE}" \
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python3 -m openpilot.starpilot.maps.package_shadow --go "${GO}" --output "${OUTPUT_DIR}"
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exit 0
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fi
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if command -v docker >/dev/null 2>&1; then
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ENGINE=docker
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elif command -v podman >/dev/null 2>&1; then
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ENGINE=podman
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else
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echo 'ERROR: Linux/ARM64 Docker or Podman is required for ./build --mapd on this host' >&2
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exit 1
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fi
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if ! "${ENGINE}" image inspect "${IMAGE}" >/dev/null 2>&1; then
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echo "ERROR: pinned Mapd builder image ${IMAGE} is absent" >&2
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echo 'Build it explicitly from tools/laptop_device_build/Dockerfile.mapd; this command never downloads images.' >&2
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exit 1
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fi
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ARCH="$("${ENGINE}" image inspect --format '{{.Os}}/{{.Architecture}}' "${IMAGE}")"
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[[ "${ARCH}" == linux/arm64 ]] || { echo "ERROR: Mapd builder image is ${ARCH}, expected linux/arm64" >&2; exit 1; }
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# Git worktrees have a .git pointer to an external common object directory.
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# Mount that metadata read-only at its original path for package_shadow's
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# exact HEAD stamp; the original checkout is never a writable build input.
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git_common="$(git -C "${ROOT_DIR}" rev-parse --path-format=absolute --git-common-dir)"
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[[ -d "${git_common}" ]] || { echo 'ERROR: checkout Git metadata unavailable' >&2; exit 1; }
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"${ENGINE}" run --rm --pull=never --platform linux/arm64 --network none --read-only \
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--tmpfs /tmp:exec,size=2g --user "$(id -u):$(id -g)" \
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--mount "type=bind,src=${ROOT_DIR},dst=/work,readonly" \
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--mount "type=bind,src=${OUTPUT_DIR},dst=/work/openpilot/starpilot/maps/provider" \
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--mount "type=bind,src=${MODULE_CACHE},dst=/gomodcache,readonly" \
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--mount "type=bind,src=${BUILD_CACHE},dst=/gocache" \
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--mount "type=bind,src=${git_common},dst=${git_common},readonly" \
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-e GOTOOLCHAIN=local -e GOPROXY=off -e GOSUMDB=off -e GOMODCACHE=/gomodcache \
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-e GOCACHE=/gocache -e GOPATH=/tmp/gopath -e PYTHONDONTWRITEBYTECODE=1 \
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-e GIT_CONFIG_COUNT=1 -e GIT_CONFIG_KEY_0=safe.directory -e GIT_CONFIG_VALUE_0=/work \
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-w /work --entrypoint python3 "${IMAGE}" -m openpilot.starpilot.maps.package_shadow \
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--go /usr/local/go/bin/go --output /work/openpilot/starpilot/maps/provider
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