wip

selfdrive/frogpilot/navigation/mapd.py

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+# PFEIFER - MAPD - Modified by FrogAi for FrogPilot to automatically update
+import os
+import socket
+import stat
+import subprocess
+import time
+import urllib.error
+import urllib.request
+
+from openpilot.common.realtime import Ratekeeper
+
+VERSION = 'v1'
+VERSION_URL = f"https://github.com/FrogAi/FrogPilot-Resources/raw/master/mapd_version_{VERSION}.txt"
+
+MAPD_PATH = '/data/media/0/osm/mapd'
+VERSION_PATH = '/data/media/0/osm/mapd_version'
+
+def github_pinged(url="https://github.com", timeout=5):
+  no_internet = 0
+  while True:
+    if no_internet > 5:
+      break
+    try:
+      urllib.request.urlopen(url, timeout=timeout)
+      return True
+    except (urllib.error.URLError, socket.timeout):
+      no_internet += 1
+      time.sleep(10)
+  return False
+
+def get_latest_version():
+  with urllib.request.urlopen(VERSION_URL) as response:
+    return response.read().decode('utf-8').strip()
+
+def download(current_version):
+  url = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{current_version}/mapd"
+
+  mapd_dir = os.path.dirname(MAPD_PATH)
+  if not os.path.exists(mapd_dir):
+    os.makedirs(mapd_dir)
+  with urllib.request.urlopen(url) as f:
+    with open(MAPD_PATH, 'wb') as output:
+      output.write(f.read())
+      os.fsync(output)
+      current_permissions = stat.S_IMODE(os.lstat(MAPD_PATH).st_mode) # <-- preserve permissions
+      os.chmod(MAPD_PATH, current_permissions | stat.S_IEXEC) # <-- preserve permissions
+    with open(VERSION_PATH, 'w') as output:
+      output.write(current_version)
+      os.fsync(output)
+
+def mapd_thread(sm=None, pm=None):
+  rk = Ratekeeper(0.05, print_delay_threshold=None)
+
+  while True:
+    try:
+      if github_pinged():
+        current_version = get_latest_version()
+        if not os.path.exists(MAPD_PATH):
+          download(current_version)
+          continue
+        if not os.path.exists(VERSION_PATH):
+          download(current_version)
+          continue
+        with open(VERSION_PATH) as f:
+          content = f.read()
+          if content != current_version:
+            download(current_version)
+            continue
+
+      process = subprocess.Popen(MAPD_PATH)
+      process.wait()
+    except Exception as e:
+      print(e)
+
+    rk.keep_time()
+
+
+def main(sm=None, pm=None):
+  mapd_thread(sm, pm)
+
+if __name__ == "__main__":
+  main()