mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-07-23 04:22:09 +08:00
IQ.Lvbs CI [bot]
382 lines
13 KiB
Bash
382 lines
13 KiB
Bash
#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/../.." >/dev/null && pwd )"
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INSTALL_ROOT="${ROOT_DIR}/.iqpilot"
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BUNDLES_ROOT="${INSTALL_ROOT}/bundles"
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VERIFY_SCRIPT="${ROOT_DIR}/artifacts/runtime/verify_proprietary_bundle.py"
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manifest_hash() {
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local manifest_path="$1"
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if command -v sha256sum >/dev/null 2>&1; then
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sha256sum "${manifest_path}" | awk '{print $1}'
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else
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shasum -a 256 "${manifest_path}" | awk '{print $1}'
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fi
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}
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NAVD_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_navd_private"
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HEPHA_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_hephaestusd_private"
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MODEL_SELECTOR_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_model_selector_private"
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ALC_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_alc_private"
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COMMANDER_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_commander_private"
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UPDATER_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_updater_private"
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VALHALLA_RUNTIME_BUNDLE="${ROOT_DIR}/artifacts/iqpilot_valhalla_runtime"
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BUNDLE_INSTALL_NAVD="${BUNDLES_ROOT}/iqpilot_navd_private"
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BUNDLE_INSTALL_HEPHA="${BUNDLES_ROOT}/iqpilot_hephaestusd_private"
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BUNDLE_INSTALL_MODEL_SELECTOR="${BUNDLES_ROOT}/iqpilot_model_selector_private"
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BUNDLE_INSTALL_ALC="${BUNDLES_ROOT}/iqpilot_alc_private"
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BUNDLE_INSTALL_COMMANDER="${BUNDLES_ROOT}/iqpilot_commander_private"
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BUNDLE_INSTALL_UPDATER="${BUNDLES_ROOT}/iqpilot_updater_private"
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BUNDLE_INSTALL_VALHALLA_RUNTIME="${BUNDLES_ROOT}/iqpilot_valhalla_runtime"
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NAVD_STATE_FILE="${INSTALL_ROOT}/.installed_navd_manifest.sha256"
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HEPHA_STATE_FILE="${INSTALL_ROOT}/.installed_hephaestusd_manifest.sha256"
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MODEL_SELECTOR_STATE_FILE="${INSTALL_ROOT}/.installed_model_selector_manifest.sha256"
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ALC_STATE_FILE="${INSTALL_ROOT}/.installed_alc_manifest.sha256"
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COMMANDER_STATE_FILE="${INSTALL_ROOT}/.installed_commander_manifest.sha256"
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UPDATER_STATE_FILE="${INSTALL_ROOT}/.installed_updater_manifest.sha256"
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VALHALLA_RUNTIME_STATE_FILE="${INSTALL_ROOT}/.installed_valhalla_runtime_manifest.sha256"
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NAVD_SENTINEL_BASE="${BUNDLE_INSTALL_NAVD}/python/iqpilot_private/navd/navd"
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HEPHA_SENTINEL_BASE="${BUNDLE_INSTALL_HEPHA}/python/iqpilot_private/konn3kt/hephaestus/hephaestusd"
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MODEL_SELECTOR_SENTINEL_BASE="${BUNDLE_INSTALL_MODEL_SELECTOR}/python/iqpilot_private/models/manager"
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ALC_SENTINEL_BASE="${BUNDLE_INSTALL_ALC}/python/iqpilot_private/konn3kt/iqlvbs/alc"
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COMMANDER_SENTINEL_BASE="${BUNDLE_INSTALL_COMMANDER}/python/iqpilot_private/konn3kt/iqlvbs/iqlvbs_commander"
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UPDATER_SENTINEL_BASE="${BUNDLE_INSTALL_UPDATER}/python/iqpilot_private/updater/git_remote"
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VALHALLA_RUNTIME_SENTINEL="${BUNDLE_INSTALL_VALHALLA_RUNTIME}/valhalla_runtime/bin/valhalla_service"
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NAVD_HASH=""
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HEPHA_HASH=""
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MODEL_SELECTOR_HASH=""
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ALC_HASH=""
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COMMANDER_HASH=""
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UPDATER_HASH=""
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VALHALLA_RUNTIME_HASH=""
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NEED_INSTALL=0
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HAVE_BUNDLE=0
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seed_hepha_ble_runtime() {
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if [ ! -f "${HEPHA_BUNDLE}/manifest.json" ]; then
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return 0
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fi
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PYTHONPATH="${ROOT_DIR}" python3 <<'PY'
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from pathlib import Path
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import os
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import secrets
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BLE_ENABLE_PARAM = "Konn3ktBleTransportEnabled"
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PRIMARY_AUTH_DIR = Path("/data/konn3kt_ble")
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FALLBACK_AUTH_DIR = Path("/data/openpilot/.konn3kt_ble")
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def ensure_dir(path: Path, mode: int) -> bool:
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try:
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path.mkdir(parents=True, exist_ok=True)
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try:
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os.chmod(path, mode)
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except Exception:
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pass
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return True
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except Exception:
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return False
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def write_if_missing(path: Path, contents: str, mode: int) -> None:
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if path.exists():
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return
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path.write_text(contents, encoding="utf-8")
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try:
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os.chmod(path, mode)
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except Exception:
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pass
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def seed_ble_enable_param() -> None:
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try:
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from openpilot.common.params import Params
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params = Params()
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if params.get(BLE_ENABLE_PARAM) is None:
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params.put_bool(BLE_ENABLE_PARAM, True)
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return
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except Exception:
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pass
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param_path = Path("/data/params/d") / BLE_ENABLE_PARAM
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if ensure_dir(param_path.parent, 0o755):
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try:
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if not param_path.exists():
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param_path.write_bytes(b"1")
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except Exception:
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pass
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def seed_ble_auth_artifacts() -> None:
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auth_dir = None
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for candidate in (PRIMARY_AUTH_DIR, FALLBACK_AUTH_DIR):
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if ensure_dir(candidate, 0o700):
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auth_dir = candidate
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break
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if auth_dir is None:
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return
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write_if_missing(auth_dir / "approved_clients.json", "{}\n", 0o600)
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write_if_missing(auth_dir / "install_credentials.json", "{}\n", 0o600)
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write_if_missing(auth_dir / "dev_secret", f"{secrets.token_hex(32)}\n", 0o600)
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seed_ble_enable_param()
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seed_ble_auth_artifacts()
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PY
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if [ -d /usr/lib/python3/dist-packages/gi ]; then
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ln -sfn /usr/lib/python3/dist-packages/gi "${ROOT_DIR}/gi"
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fi
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}
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module_present() {
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local base_path="$1"
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if [ -f "${base_path}.pyc" ]; then
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return 0
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fi
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if compgen -G "${base_path}".*.so >/dev/null; then
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return 0
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fi
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return 1
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}
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apply_manifest_modes() {
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local bundle_root="$1"
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if [ ! -f "${bundle_root}/manifest.json" ]; then
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return 0
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fi
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python3 - "${bundle_root}" <<'PY'
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from pathlib import Path
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import json
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import os
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import sys
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root = Path(sys.argv[1])
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manifest = json.loads((root / "manifest.json").read_text(encoding="utf-8"))
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for rel, meta in manifest.items():
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if rel in {"signatures", "runtime"} or not isinstance(meta, dict) or "mode" not in meta:
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continue
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path = root / rel
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if path.exists():
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os.chmod(path, int(meta["mode"]))
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PY
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}
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installed_bundle_valid() {
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local bundle_root="$1"
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if [ ! -f "${bundle_root}/manifest.json" ]; then
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return 1
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fi
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apply_manifest_modes "${bundle_root}" || return 1
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python3 "${VERIFY_SCRIPT}" "${bundle_root}" >/dev/null 2>&1
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}
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if [ -f "${NAVD_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${NAVD_BUNDLE}" || true
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HAVE_BUNDLE=1
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NAVD_HASH="$(manifest_hash "${NAVD_BUNDLE}/manifest.json")"
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NAVD_DST_HASH=""
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if [ -f "${NAVD_STATE_FILE}" ]; then
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NAVD_DST_HASH="$(cat "${NAVD_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${NAVD_SENTINEL_BASE}" || [ "${NAVD_HASH}" != "${NAVD_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_NAVD}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${HEPHA_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${HEPHA_BUNDLE}" || true
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HAVE_BUNDLE=1
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HEPHA_HASH="$(manifest_hash "${HEPHA_BUNDLE}/manifest.json")"
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HEPHA_DST_HASH=""
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if [ -f "${HEPHA_STATE_FILE}" ]; then
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HEPHA_DST_HASH="$(cat "${HEPHA_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${HEPHA_SENTINEL_BASE}" || [ "${HEPHA_HASH}" != "${HEPHA_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_HEPHA}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${MODEL_SELECTOR_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${MODEL_SELECTOR_BUNDLE}" || true
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HAVE_BUNDLE=1
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MODEL_SELECTOR_HASH="$(manifest_hash "${MODEL_SELECTOR_BUNDLE}/manifest.json")"
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MODEL_SELECTOR_DST_HASH=""
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if [ -f "${MODEL_SELECTOR_STATE_FILE}" ]; then
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MODEL_SELECTOR_DST_HASH="$(cat "${MODEL_SELECTOR_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${MODEL_SELECTOR_SENTINEL_BASE}" || [ "${MODEL_SELECTOR_HASH}" != "${MODEL_SELECTOR_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_MODEL_SELECTOR}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${ALC_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${ALC_BUNDLE}" || true
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HAVE_BUNDLE=1
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ALC_HASH="$(manifest_hash "${ALC_BUNDLE}/manifest.json")"
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ALC_DST_HASH=""
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if [ -f "${ALC_STATE_FILE}" ]; then
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ALC_DST_HASH="$(cat "${ALC_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${ALC_SENTINEL_BASE}" || [ "${ALC_HASH}" != "${ALC_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_ALC}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${COMMANDER_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${COMMANDER_BUNDLE}" || true
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HAVE_BUNDLE=1
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COMMANDER_HASH="$(manifest_hash "${COMMANDER_BUNDLE}/manifest.json")"
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COMMANDER_DST_HASH=""
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if [ -f "${COMMANDER_STATE_FILE}" ]; then
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COMMANDER_DST_HASH="$(cat "${COMMANDER_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${COMMANDER_SENTINEL_BASE}" || [ "${COMMANDER_HASH}" != "${COMMANDER_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_COMMANDER}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${UPDATER_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${UPDATER_BUNDLE}" || true
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HAVE_BUNDLE=1
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UPDATER_HASH="$(manifest_hash "${UPDATER_BUNDLE}/manifest.json")"
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UPDATER_DST_HASH=""
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if [ -f "${UPDATER_STATE_FILE}" ]; then
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UPDATER_DST_HASH="$(cat "${UPDATER_STATE_FILE}" 2>/dev/null || true)"
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fi
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if ! module_present "${UPDATER_SENTINEL_BASE}" || [ "${UPDATER_HASH}" != "${UPDATER_DST_HASH}" ] || ! installed_bundle_valid "${BUNDLE_INSTALL_UPDATER}"; then
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NEED_INSTALL=1
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fi
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fi
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if [ -f "${VALHALLA_RUNTIME_BUNDLE}/manifest.json" ]; then
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apply_manifest_modes "${VALHALLA_RUNTIME_BUNDLE}" || true
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HAVE_BUNDLE=1
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VALHALLA_RUNTIME_HASH="$(manifest_hash "${VALHALLA_RUNTIME_BUNDLE}/manifest.json")"
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VALHALLA_RUNTIME_DST_HASH=""
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if [ -f "${VALHALLA_RUNTIME_STATE_FILE}" ]; then
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VALHALLA_RUNTIME_DST_HASH="$(cat "${VALHALLA_RUNTIME_STATE_FILE}" 2>/dev/null || true)"
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fi
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if [ ! -x "${VALHALLA_RUNTIME_SENTINEL}" ] || [ "${VALHALLA_RUNTIME_HASH}" != "${VALHALLA_RUNTIME_DST_HASH}" ]; then
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NEED_INSTALL=1
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fi
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fi
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if [ "${HAVE_BUNDLE}" -eq 0 ]; then
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exit 0
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fi
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if [ "${NEED_INSTALL}" -eq 0 ]; then
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seed_hepha_ble_runtime || true
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exit 0
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fi
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TMP_ROOT="${INSTALL_ROOT}.tmp.$$"
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echo "Installing bundled private artifacts..."
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rm -rf "${TMP_ROOT}"
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mkdir -p "${TMP_ROOT}"
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mkdir -p "${TMP_ROOT}/bundles"
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if [ -d "${INSTALL_ROOT}" ]; then
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cp -a "${INSTALL_ROOT}"/. "${TMP_ROOT}/"
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fi
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if [ -f "${NAVD_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${NAVD_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_navd_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_navd_private"
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cp -a "${NAVD_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_navd_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_navd_private"
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fi
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if [ -f "${HEPHA_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${HEPHA_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_hephaestusd_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_hephaestusd_private"
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cp -a "${HEPHA_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_hephaestusd_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_hephaestusd_private"
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fi
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if [ -f "${MODEL_SELECTOR_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${MODEL_SELECTOR_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_model_selector_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_model_selector_private"
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cp -a "${MODEL_SELECTOR_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_model_selector_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_model_selector_private"
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fi
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if [ -f "${ALC_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${ALC_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_alc_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_alc_private"
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cp -a "${ALC_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_alc_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_alc_private"
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fi
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if [ -f "${COMMANDER_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${COMMANDER_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_commander_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_commander_private"
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cp -a "${COMMANDER_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_commander_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_commander_private"
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fi
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if [ -f "${UPDATER_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${UPDATER_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_updater_private"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_updater_private"
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cp -a "${UPDATER_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_updater_private/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_updater_private"
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fi
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if [ -f "${VALHALLA_RUNTIME_BUNDLE}/manifest.json" ]; then
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python3 "${VERIFY_SCRIPT}" "${VALHALLA_RUNTIME_BUNDLE}"
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rm -rf "${TMP_ROOT}/bundles/iqpilot_valhalla_runtime"
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mkdir -p "${TMP_ROOT}/bundles/iqpilot_valhalla_runtime"
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cp -a "${VALHALLA_RUNTIME_BUNDLE}"/. "${TMP_ROOT}/bundles/iqpilot_valhalla_runtime/"
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apply_manifest_modes "${TMP_ROOT}/bundles/iqpilot_valhalla_runtime"
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fi
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if [ -d "${INSTALL_ROOT}" ]; then
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rm -rf "${INSTALL_ROOT}.bak"
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mv "${INSTALL_ROOT}" "${INSTALL_ROOT}.bak"
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fi
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mv "${TMP_ROOT}" "${INSTALL_ROOT}"
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if [ -d "${INSTALL_ROOT}.bak" ]; then
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rm -rf "${INSTALL_ROOT}.bak"
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fi
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if [ -n "${NAVD_HASH}" ]; then
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printf '%s\n' "${NAVD_HASH}" > "${NAVD_STATE_FILE}"
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fi
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if [ -n "${HEPHA_HASH}" ]; then
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printf '%s\n' "${HEPHA_HASH}" > "${HEPHA_STATE_FILE}"
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fi
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if [ -n "${MODEL_SELECTOR_HASH}" ]; then
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printf '%s\n' "${MODEL_SELECTOR_HASH}" > "${MODEL_SELECTOR_STATE_FILE}"
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fi
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if [ -n "${ALC_HASH}" ]; then
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printf '%s\n' "${ALC_HASH}" > "${ALC_STATE_FILE}"
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fi
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if [ -n "${COMMANDER_HASH}" ]; then
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printf '%s\n' "${COMMANDER_HASH}" > "${COMMANDER_STATE_FILE}"
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fi
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if [ -n "${UPDATER_HASH}" ]; then
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printf '%s\n' "${UPDATER_HASH}" > "${UPDATER_STATE_FILE}"
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fi
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if [ -n "${VALHALLA_RUNTIME_HASH}" ]; then
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printf '%s\n' "${VALHALLA_RUNTIME_HASH}" > "${VALHALLA_RUNTIME_STATE_FILE}"
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fi
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seed_hepha_ble_runtime || true
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echo "Private artifacts installed."
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