102 lines
3.5 KiB
Python
102 lines
3.5 KiB
Python
import os
|
|
import stat
|
|
import time
|
|
import urllib.request
|
|
|
|
from openpilot.common.params import Params
|
|
from openpilot.system.version import get_short_branch
|
|
|
|
# CLEARPILOT this doesnt really matter.
|
|
VERSION = 'v1' if get_short_branch() == "clearpilot" else 'v2'
|
|
REPOSITORY_URL = 'https://privategit.hanson.xyz/brianhansonxyz/clearpilot'
|
|
|
|
DEFAULT_MODEL = "wd-40"
|
|
DEFAULT_MODEL_NAME = "WD40 (Default)"
|
|
# CLEARPILOT changed path.
|
|
MODELS_PATH = '/data/openpilot/selfdrive/clearpilot/models'
|
|
|
|
NAVIGATIONLESS_MODELS = {"radical-turtle", "wd-40"}
|
|
RADARLESS_MODELS = {"radical-turtle"}
|
|
|
|
params = Params()
|
|
params_memory = Params("/dev/shm/params")
|
|
|
|
def delete_deprecated_models():
|
|
populate_models()
|
|
|
|
available_models = params.get("AvailableModels", encoding='utf-8').split(',')
|
|
|
|
if available_models:
|
|
current_model = params.get("Model", encoding='utf-8')
|
|
current_model_file = os.path.join(MODELS_PATH, f"{current_model}.thneed")
|
|
|
|
if current_model not in available_models or not os.path.exists(current_model_file):
|
|
params.put("Model", DEFAULT_MODEL)
|
|
params.put("ModelName", DEFAULT_MODEL_NAME)
|
|
|
|
for model_file in os.listdir(MODELS_PATH):
|
|
if model_file.endswith('.thneed') and model_file[:-7] not in available_models:
|
|
os.remove(os.path.join(MODELS_PATH, model_file))
|
|
else:
|
|
params.put("Model", DEFAULT_MODEL)
|
|
params.put("ModelName", DEFAULT_MODEL_NAME)
|
|
|
|
def download_model():
|
|
model = params_memory.get("ModelToDownload", encoding='utf-8')
|
|
model_path = os.path.join(MODELS_PATH, f"{model}.thneed")
|
|
url = f"{REPOSITORY_URL}/{model}/{model}.thneed"
|
|
|
|
os.makedirs(MODELS_PATH, exist_ok=True)
|
|
|
|
for attempt in range(5):
|
|
try:
|
|
with urllib.request.urlopen(url) as f:
|
|
total_file_size = int(f.getheader('Content-Length'))
|
|
if total_file_size == 0:
|
|
raise ValueError("File is empty")
|
|
|
|
with open(model_path, 'wb') as output:
|
|
current_file_size = 0
|
|
while chunk := f.read(8192):
|
|
output.write(chunk)
|
|
current_file_size += len(chunk)
|
|
progress = (current_file_size / total_file_size) * 100
|
|
params_memory.put_int("ModelDownloadProgress", int(progress))
|
|
os.fsync(output)
|
|
|
|
if os.path.getsize(model_path) == total_file_size:
|
|
print(f"Successfully downloaded the {model} model!")
|
|
break
|
|
else:
|
|
raise Exception("Downloaded model file size does not match expected size. Retrying...")
|
|
|
|
except Exception as e:
|
|
print(f"Attempt {attempt + 1} failed with error: {e}. Retrying...")
|
|
if os.path.exists(model_path):
|
|
os.remove(model_path)
|
|
time.sleep(5)
|
|
else:
|
|
print(f"Failed to download the {model} model after {attempt + 1} attempts. Giving up... :(")
|
|
|
|
def populate_models():
|
|
# CLEARPILOT hardcoded list
|
|
models = """
|
|
wd-40 - WD40 (Default)
|
|
duck-amigo - Duck Amigo
|
|
"""
|
|
# todo - get farmville working
|
|
# farmville - FarmVille
|
|
model_info = [line.strip().split(' - ') for line in models.strip().splitlines() if ' - ' in line]
|
|
|
|
available_models = ','.join(model[0] for model in model_info)
|
|
available_models_names = [model[1] for model in model_info]
|
|
|
|
params.put("AvailableModels", available_models)
|
|
params.put("AvailableModelsNames", ','.join(available_models_names))
|
|
|
|
current_model_name = params.get("ModelName", encoding='utf-8')
|
|
if current_model_name not in available_models_names and "(Default)" in current_model_name:
|
|
updated_model_name = current_model_name.replace("(Default)", "").strip()
|
|
params.put("ModelName", updated_model_name)
|
|
|