Fleet Manager
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
243
selfdrive/frogpilot/fleetmanager/fleet_manager.py
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243
selfdrive/frogpilot/fleetmanager/fleet_manager.py
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#!/usr/bin/env python3
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import os
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import random
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import secrets
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import threading
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import time
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from flask import Flask, render_template, Response, request, send_from_directory, session, redirect, url_for
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import requests
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from requests.exceptions import ConnectionError
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from openpilot.common.realtime import set_core_affinity
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import openpilot.selfdrive.frogpilot.fleetmanager.helpers as fleet
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from openpilot.system.hardware.hw import Paths
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from openpilot.common.swaglog import cloudlog
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import traceback
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app = Flask(__name__)
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@app.route("/")
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def home_page():
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return render_template("index.html")
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@app.errorhandler(500)
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def internal_error(exception):
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print('500 error caught')
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tberror = traceback.format_exc()
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return render_template("error.html", error=tberror)
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@app.route("/footage/full/<cameratype>/<route>")
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def full(cameratype, route):
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chunk_size = 1024 * 512 # 5KiB
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file_name = cameratype + (".ts" if cameratype == "qcamera" else ".hevc")
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vidlist = "|".join(Paths.log_root() + "/" + segment + "/" + file_name for segment in fleet.segments_in_route(route))
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def generate_buffered_stream():
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with fleet.ffmpeg_mp4_concat_wrap_process_builder(vidlist, cameratype, chunk_size) as process:
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for chunk in iter(lambda: process.stdout.read(chunk_size), b""):
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yield bytes(chunk)
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return Response(generate_buffered_stream(), status=200, mimetype='video/mp4')
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@app.route("/footage/<cameratype>/<segment>")
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def fcamera(cameratype, segment):
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if not fleet.is_valid_segment(segment):
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return render_template("error.html", error="invalid segment")
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file_name = Paths.log_root() + "/" + segment + "/" + cameratype + (".ts" if cameratype == "qcamera" else ".hevc")
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return Response(fleet.ffmpeg_mp4_wrap_process_builder(file_name).stdout.read(), status=200, mimetype='video/mp4')
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@app.route("/footage/<route>")
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def route(route):
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if len(route) != 20:
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return render_template("error.html", error="route not found")
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if str(request.query_string) == "b''":
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query_segment = str("0")
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query_type = "qcamera"
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else:
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query_segment = (str(request.query_string).split(","))[0][2:]
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query_type = (str(request.query_string).split(","))[1][:-1]
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links = ""
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segments = ""
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for segment in fleet.segments_in_route(route):
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links += "<a href='"+route+"?"+segment.split("--")[2]+","+query_type+"'>"+segment+"</a><br>"
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segments += "'"+segment+"',"
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return render_template("route.html", route=route, query_type=query_type, links=links, segments=segments, query_segment=query_segment)
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@app.route("/footage/")
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@app.route("/footage")
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def footage():
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return render_template("footage.html", rows=fleet.all_routes())
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@app.route("/screenrecords/")
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@app.route("/screenrecords")
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def screenrecords():
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rows = fleet.list_files(fleet.SCREENRECORD_PATH)
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if not rows:
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return render_template("error.html", error="no screenrecords found at:<br><br>" + fleet.SCREENRECORD_PATH)
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return render_template("screenrecords.html", rows=rows, clip=rows[0])
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@app.route("/screenrecords/<clip>")
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def screenrecord(clip):
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return render_template("screenrecords.html", rows=fleet.list_files(fleet.SCREENRECORD_PATH), clip=clip)
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@app.route("/screenrecords/play/pipe/<file>")
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def videoscreenrecord(file):
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file_name = fleet.SCREENRECORD_PATH + file
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return Response(fleet.ffplay_mp4_wrap_process_builder(file_name).stdout.read(), status=200, mimetype='video/mp4')
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@app.route("/screenrecords/download/<clip>")
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def download_file(clip):
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return send_from_directory(fleet.SCREENRECORD_PATH, clip, as_attachment=True)
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@app.route("/about")
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def about():
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return render_template("about.html")
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@app.route("/error_logs")
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def error_logs():
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return render_template("error_logs.html", rows=fleet.list_files(fleet.ERROR_LOGS_PATH))
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@app.route("/error_logs/<file_name>")
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def open_error_log(file_name):
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f = open(fleet.ERROR_LOGS_PATH + file_name)
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error = f.read()
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return render_template("error_log.html", file_name=file_name, file_content=error)
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@app.route("/addr_input", methods=['GET', 'POST'])
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def addr_input():
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SearchInput = fleet.get_SearchInput()
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token = fleet.get_public_token()
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s_token = fleet.get_app_token()
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gmap_key = fleet.get_gmap_key()
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PrimeType = fleet.get_PrimeType()
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lon = float(0.0)
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lat = float(0.0)
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if request.method == 'POST':
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valid_addr = False
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postvars = request.form.to_dict()
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addr, lon, lat, valid_addr, token = fleet.parse_addr(postvars, lon, lat, valid_addr, token)
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if not valid_addr:
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# If address is not found, try searching
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postvars = request.form.to_dict()
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addr = request.form.get('addr_val')
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addr, lon, lat, valid_addr, token = fleet.search_addr(postvars, lon, lat, valid_addr, token)
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if valid_addr:
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# If a valid address is found, redirect to nav_confirmation
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return redirect(url_for('nav_confirmation', addr=addr, lon=lon, lat=lat))
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else:
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return render_template("error.html")
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elif PrimeType != 0:
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return render_template("prime.html")
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elif fleet.get_nav_active():
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if SearchInput == 2:
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return render_template("nonprime.html", gmap_key=gmap_key, lon=lon, lat=lat)
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else:
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return render_template("nonprime.html", gmap_key=None, lon=None, lat=None)
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elif token == "" or token is None:
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return redirect(url_for('public_token_input'))
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elif s_token == "" or s_token is None:
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return redirect(url_for('app_token_input'))
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elif SearchInput == 2:
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lon, lat = fleet.get_last_lon_lat()
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if gmap_key == "" or gmap_key is None:
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return redirect(url_for('gmap_key_input'))
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else:
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return render_template("addr.html", gmap_key=gmap_key, lon=lon, lat=lat)
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else:
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return render_template("addr.html", gmap_key=None, lon=None, lat=None)
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@app.route("/nav_confirmation", methods=['GET', 'POST'])
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def nav_confirmation():
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token = fleet.get_public_token()
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lon = request.args.get('lon')
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lat = request.args.get('lat')
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addr = request.args.get('addr')
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if request.method == 'POST':
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postvars = request.form.to_dict()
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fleet.nav_confirmed(postvars)
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return redirect(url_for('addr_input'))
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else:
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return render_template("nav_confirmation.html", addr=addr, lon=lon, lat=lat, token=token)
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@app.route("/public_token_input", methods=['GET', 'POST'])
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def public_token_input():
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if request.method == 'POST':
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postvars = request.form.to_dict()
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fleet.public_token_input(postvars)
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return redirect(url_for('addr_input'))
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else:
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return render_template("public_token_input.html")
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@app.route("/app_token_input", methods=['GET', 'POST'])
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def app_token_input():
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if request.method == 'POST':
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postvars = request.form.to_dict()
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fleet.app_token_input(postvars)
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return redirect(url_for('addr_input'))
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else:
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return render_template("app_token_input.html")
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@app.route("/gmap_key_input", methods=['GET', 'POST'])
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def gmap_key_input():
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if request.method == 'POST':
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postvars = request.form.to_dict()
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fleet.gmap_key_input(postvars)
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return redirect(url_for('addr_input'))
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else:
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return render_template("gmap_key_input.html")
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@app.route("/CurrentStep.json", methods=['GET'])
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def find_CurrentStep():
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directory = "/data/openpilot/selfdrive/manager/"
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filename = "CurrentStep.json"
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return send_from_directory(directory, filename, as_attachment=True)
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@app.route("/navdirections.json", methods=['GET'])
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def find_nav_directions():
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directory = "/data/openpilot/selfdrive/manager/"
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filename = "navdirections.json"
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return send_from_directory(directory, filename, as_attachment=True)
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@app.route("/locations", methods=['GET'])
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def get_locations():
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data = fleet.get_locations()
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return Response(data, content_type="application/json")
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@app.route("/set_destination", methods=['POST'])
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def set_destination():
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valid_addr = False
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postvars = request.get_json()
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data, valid_addr = fleet.set_destination(postvars, valid_addr)
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if valid_addr:
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return Response('{"success": true}', content_type='application/json')
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else:
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return Response('{"success": false}', content_type='application/json')
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@app.route("/navigation/<file_name>", methods=['GET'])
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def find_navicon(file_name):
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directory = "/data/openpilot/selfdrive/assets/navigation/"
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return send_from_directory(directory, file_name, as_attachment=True)
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def main():
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try:
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set_core_affinity([0, 1, 2, 3])
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except Exception:
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cloudlog.exception("fleet_manager: failed to set core affinity")
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app.secret_key = secrets.token_hex(32)
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app.run(host="0.0.0.0", port=8082)
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if __name__ == '__main__':
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main()
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