mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-02 06:03:43 +08:00
FrogAi
105 lines
3.7 KiB
Python
105 lines
3.7 KiB
Python
import filecmp
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import http.client
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import os
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import shutil
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import socket
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import subprocess
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import threading
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import time
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import urllib.error
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import urllib.request
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.numpy_fast import clip, interp, mean
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from openpilot.common.params_pyx import Params, UnknownKeyName
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from openpilot.system.hardware import HARDWARE
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def delete_file(file):
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try:
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os.remove(file)
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print(f"Deleted file: {file}")
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except FileNotFoundError:
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print(f"File not found: {file}")
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except Exception as e:
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print(f"An error occurred: {e}")
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def is_url_pingable(url, timeout=5):
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try:
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urllib.request.urlopen(url, timeout=timeout)
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return True
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except (http.client.IncompleteRead, http.client.RemoteDisconnected, socket.gaierror, socket.timeout, urllib.error.HTTPError, urllib.error.URLError):
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return False
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def update_frogpilot_toggles():
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def update_params():
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params_memory = Params("/dev/shm/params")
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params_memory.put_bool("FrogPilotTogglesUpdated", True)
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time.sleep(1)
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params_memory.put_bool("FrogPilotTogglesUpdated", False)
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threading.Thread(target=update_params).start()
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def run_cmd(cmd, success_msg, fail_msg):
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try:
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subprocess.check_call(cmd)
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print(success_msg)
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except subprocess.CalledProcessError as e:
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print(f"{fail_msg}: {e}")
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except Exception as e:
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print(f"Unexpected error occurred: {e}")
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def convert_params(params, params_storage):
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def convert_param(key, action_func):
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try:
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if params_storage.check_key(key) and params_storage.get_bool(key):
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action_func()
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except UnknownKeyName:
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pass
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version = 8
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try:
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if params_storage.check_key("ParamConversionVersion") and params_storage.get_int("ParamConversionVersion") == version:
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print("Params already converted, moving on.")
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return
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except UnknownKeyName:
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pass
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print("Converting params...")
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convert_param("ModelSelector", lambda: params.put_nonblocking("ModelManagement", "True"))
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convert_param("DragonPilotTune", lambda: params.put_nonblocking("FrogsGoMooTune", "True"))
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print("Params successfully converted!")
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params_storage.put_int_nonblocking("ParamConversionVersion", version)
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def frogpilot_boot_functions(params, params_storage):
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convert_params(params, params_storage)
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def setup_frogpilot():
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remount_root = ['sudo', 'mount', '-o', 'remount,rw', '/']
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run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system.")
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frogpilot_boot_logo = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.png'
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frogpilot_boot_logo_jpg = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/frogpilot_boot_logo.jpg'
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boot_logo_location = '/usr/comma/bg.jpg'
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boot_logo_save_location = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/original_bg.jpg'
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if not os.path.exists(boot_logo_save_location):
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shutil.copy(boot_logo_location, boot_logo_save_location)
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print("Successfully saved original_bg.jpg.")
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if filecmp.cmp(boot_logo_save_location, frogpilot_boot_logo_jpg, shallow=False):
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os.remove(boot_logo_save_location)
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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 bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo.")
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def uninstall_frogpilot():
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boot_logo_location = '/usr/comma/bg.jpg'
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boot_logo_restore_location = f'{BASEDIR}/selfdrive/frogpilot/assets/other_images/original_bg.jpg'
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copy_cmd = ['sudo', 'cp', boot_logo_restore_location, boot_logo_location]
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run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.")
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HARDWARE.uninstall()
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