mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-02 22:23:42 +08:00
FrogAi
121 lines
3.9 KiB
Python
121 lines
3.9 KiB
Python
# 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()
|