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kachow

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This commit is contained in:
firestar5683
2026-07-01 11:50:57 -05:00
parent ae3792c683
commit 08df283511
5 changed files with 142 additions and 29 deletions
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launch_chffrplus.sh
+72 -7
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@@ -6,6 +6,7 @@ source "$DIR/launch_env.sh"
export SP_BOOT_TIMING_LOG="${SP_BOOT_TIMING_LOG:-/tmp/starpilot_boot_timing.log}"
: > "$SP_BOOT_TIMING_LOG" 2>/dev/null || true
PREBUILT_COMPAT_CACHE="${SP_PREBUILT_COMPAT_CACHE:-/cache/starpilot_prebuilt_runtime_compatible_v1}"
SP_LAUNCH_LAST_SECONDS=$SECONDS
function sp_boot_timing_line {
@@ -20,6 +21,54 @@ function sp_launch_timing {
SP_LAUNCH_LAST_SECONDS=$now
}
function launch_param_migrations_needed {
local marker_dir="/data/params/.starpilot_param_migrations/${OPENPILOT_PREFIX:-d}"
[ ! -f "$marker_dir/.starpilot_launch_param_migrations_v2" ] && return 0
[ ! -f "$marker_dir/.starpilot_branch_defaults_migrations_v1" ] && return 0
[ ! -f "$marker_dir/.starpilot_acceleration_profile_default_v1" ] && return 0
return 1
}
function prebuilt_runtime_artifacts {
printf '%s\n' \
"$DIR/common/params_pyx.so" \
"$DIR/msgq/ipc_pyx.so" \
"$DIR/msgq/visionipc/visionipc_pyx.so" \
"$DIR/common/transformations/transformations.so" \
"$DIR/selfdrive/modeld/models/driving_tinygrad.pkl" \
"$DIR/selfdrive/modeld/models/dmonitoring_model_metadata.pkl" \
"$DIR/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl" \
"$DIR/selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl" \
"$DIR/selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl" \
"$DIR/selfdrive/pandad/pandad_api_impl.so" \
"$DIR/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" \
"$DIR/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so" \
"$DIR/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" \
"$DIR/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so" \
"$DIR/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc"
}
function prebuilt_compat_cache_valid {
[ -f "$PREBUILT_COMPAT_CACHE" ] || return 1
[ -f "$DIR/prebuilt" ] || return 1
[ "$DIR/prebuilt" -nt "$PREBUILT_COMPAT_CACHE" ] && return 1
while IFS= read -r artifact; do
[ -e "$artifact" ] || return 1
[ "$artifact" -nt "$PREBUILT_COMPAT_CACHE" ] && return 1
done < <(prebuilt_runtime_artifacts)
return 0
}
function prebuilt_artifacts_present {
while IFS= read -r artifact; do
[ -e "$artifact" ] || return 1
done < <(prebuilt_runtime_artifacts)
return 0
}
function agnos_init {
sp_launch_timing "agnos_init_start"
@@ -126,11 +175,15 @@ function launch {
# start manager
cd system/manager
sp_launch_timing "launch_param_migrations_start"
if ! python3 ./launch_param_migrations.py; then
echo "Launch param migrations failed; continuing boot."
if launch_param_migrations_needed; then
sp_launch_timing "launch_param_migrations_start"
if ! python3 ./launch_param_migrations.py; then
echo "Launch param migrations failed; continuing boot."
fi
sp_launch_timing "launch_param_migrations_done"
else
sp_launch_timing "launch_param_migrations_skipped"
fi
sp_launch_timing "launch_param_migrations_done"
# Bootstrap runtime (e.g. /usr/comma after reset/uninstall) must go straight
# to manager/setup flow. Do not run StarPilot prebuilt checks/builds here.
@@ -213,9 +266,21 @@ PY
fi
sp_launch_timing "prebuilt_decision_done"
if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
USE_PREBUILT=0
if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ]; then
if prebuilt_compat_cache_valid; then
sp_launch_timing "prebuilt_compat_cache_hit"
elif [ "${SP_STRICT_PREBUILT_CHECK:-0}" != "1" ] && prebuilt_artifacts_present; then
sp_launch_timing "prebuilt_compat_fast_path"
mkdir -p "$(dirname "$PREBUILT_COMPAT_CACHE")" 2>/dev/null || true
touch "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
elif prebuilt_runtime_compatible; then
mkdir -p "$(dirname "$PREBUILT_COMPAT_CACHE")" 2>/dev/null || true
touch "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
else
echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
rm -f "$PREBUILT_COMPAT_CACHE" 2>/dev/null || true
USE_PREBUILT=0
fi
fi
sp_launch_timing "prebuilt_compat_done"