Offline maps

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

frogpilot/common/frogpilot_functions.py

@@ -16,7 +16,7 @@ from openpilot.frogpilot.assets.theme_manager import ThemeManager
 from openpilot.frogpilot.common.frogpilot_backups import backup_frogpilot
 from openpilot.frogpilot.common.frogpilot_utilities import is_FrogsGoMoo, run_cmd, use_konik_server
 from openpilot.frogpilot.common.frogpilot_variables import (
-  ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, THEME_SAVE_PATH,
+  ERROR_LOGS_PATH, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPD_PATH, MAPS_PATH, THEME_SAVE_PATH,
   FrogPilotVariables, get_frogpilot_toggles
 )
 
@@ -96,6 +96,38 @@ def update_boot_logo(frogpilot=False, stock=False):
     run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/"], "Successfully restored / mount options", "Failed to restore / mount options")
 
 
+def update_maps(now, params, params_memory):
+  while not MAPD_PATH.exists():
+    time.sleep(60)
+
+  maps_selected = params.get("MapsSelected")
+  if not maps_selected or not (maps_selected.get("nations") or maps_selected.get("states")):
+    return
+
+  day = now.day
+  is_first = day == 1
+  is_sunday = now.weekday() == 6
+  schedule = params.get("PreferredSchedule")
+
+  maps_downloaded = MAPS_PATH.exists()
+  if maps_downloaded and (schedule == 0 or (schedule == 1 and not is_sunday) or (schedule == 2 and not is_first)):
+    return
+
+  suffix = "th" if 11 <= day <= 13 else {1: "st", 2: "nd", 3: "rd"}.get(day % 10, "th")
+  todays_date = now.strftime(f"%B {day}{suffix}, %Y")
+
+  if maps_downloaded and params.get("LastMapsUpdate") == todays_date:
+    return
+
+  if params.get("OSMDownloadProgress") is None:
+    params_memory.put("OSMDownloadLocations", maps_selected)
+
+  while params.get("OSMDownloadProgress") is not None:
+    time.sleep(60)
+
+  params.put("LastMapsUpdate", todays_date)
+
+
 def update_openpilot(thread_manager, params):
   def update_available():
     run_cmd(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], "Checking for updates...", "Failed to check for update...", report=False)

frogpilot/frogpilot_process.py

@@ -10,7 +10,7 @@ from openpilot.common.time_helpers import system_time_valid
 
 from openpilot.frogpilot.assets.theme_manager import THEME_COMPONENT_PARAMS, ThemeManager
 from openpilot.frogpilot.common.frogpilot_backups import backup_toggles
-from openpilot.frogpilot.common.frogpilot_functions import update_openpilot
+from openpilot.frogpilot.common.frogpilot_functions import update_maps, update_openpilot
 from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors
 from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables
 from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
@@ -45,6 +45,8 @@ 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)
 
   if frogpilot_toggles.automatic_updates:

frogpilot/navigation/mapd.py

@@ -0,0 +1,153 @@
+#!/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()

system/manager/process_config.py

@@ -130,6 +130,7 @@ 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),
 ]
 
 managed_processes = {p.name: p for p in procs}