mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-16 04:27:09 +08:00
256 lines
9.2 KiB
Bash
Executable File
256 lines
9.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
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source "$DIR/launch_env.sh"
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function agnos_init {
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# TODO: move this to agnos
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sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
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# set success flag for current boot slot
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sudo abctl --set_success
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# Restore SSH access after a user-triggered reset if keys were backed up to /cache.
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SSH_BACKUP_DIR="/cache/reset_backup"
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if [ -d "$SSH_BACKUP_DIR" ]; then
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sudo mkdir -p /data/params/d
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for key in GithubSshKeys SshEnabled; do
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if [ -f "$SSH_BACKUP_DIR/$key" ]; then
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sudo cp "$SSH_BACKUP_DIR/$key" "/data/params/d/$key"
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fi
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done
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sudo chown comma:comma /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
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sudo chmod 600 /data/params/d/GithubSshKeys /data/params/d/SshEnabled 2>/dev/null || true
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sudo rm -rf "$SSH_BACKUP_DIR"
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fi
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# TODO: do this without udev in AGNOS
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# udev does this, but sometimes we startup faster
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sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
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sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
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# StarPilot variables
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sudo chmod 0777 /cache
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# Weston loads display color correction from /data/misc/display/color_cal/color_cal.
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# Prefer a factory /persist/comma/color_cal blob when present. Otherwise, derive a
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# Weston-compatible calibration blob from the device's legacy dwo gamma tables.
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COLOR_CAL_SRC="/persist/comma/color_cal"
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DWO_GAMMA_SRC="/persist/comma/dwo_gamma_curves"
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COLOR_CAL_DST_DIR="/data/misc/display/color_cal"
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COLOR_CAL_DST="${COLOR_CAL_DST_DIR}/color_cal"
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COLOR_CAL_HASH_PATH="${COLOR_CAL_DST_DIR}/source.sha256"
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DWO_REFERENCE="$DIR/tools/reference_dwo_gamma_curves.txt"
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DWO_GENERATOR="$DIR/tools/generate_color_cal_from_dwo.py"
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COLOR_CAL_UPDATED=0
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COLOR_CAL_TMP=""
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DWO_SOURCE_HASH=""
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if [ -f "$COLOR_CAL_SRC" ]; then
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sudo mkdir -p "$COLOR_CAL_DST_DIR"
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if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_SRC" "$COLOR_CAL_DST"; then
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sudo cp "$COLOR_CAL_SRC" "$COLOR_CAL_DST"
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sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
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sudo chmod 664 "$COLOR_CAL_DST"
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sudo rm -f "$COLOR_CAL_HASH_PATH"
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COLOR_CAL_UPDATED=1
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fi
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elif [ -f "$DWO_GAMMA_SRC" ] && [ -f "$DWO_REFERENCE" ] && [ -f "$DWO_GENERATOR" ]; then
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DWO_SOURCE_HASH="$(cat "$DWO_GAMMA_SRC" "$DWO_REFERENCE" "$DWO_GENERATOR" | sha256sum | awk '{print $1}')"
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if [ ! -f "$COLOR_CAL_DST" ] || [ ! -f "$COLOR_CAL_HASH_PATH" ] || [ "$(cat "$COLOR_CAL_HASH_PATH" 2>/dev/null)" != "$DWO_SOURCE_HASH" ]; then
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COLOR_CAL_TMP="$(mktemp)"
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if python3 "$DWO_GENERATOR" --reference "$DWO_REFERENCE" --input "$DWO_GAMMA_SRC" --output "$COLOR_CAL_TMP"; then
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sudo mkdir -p "$COLOR_CAL_DST_DIR"
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if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_TMP" "$COLOR_CAL_DST"; then
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sudo cp "$COLOR_CAL_TMP" "$COLOR_CAL_DST"
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COLOR_CAL_UPDATED=1
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fi
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printf '%s' "$DWO_SOURCE_HASH" | sudo tee "$COLOR_CAL_HASH_PATH" >/dev/null
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sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
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sudo chmod 664 "$COLOR_CAL_DST" "$COLOR_CAL_HASH_PATH"
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fi
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rm -f "$COLOR_CAL_TMP"
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fi
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fi
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if [ "$COLOR_CAL_UPDATED" = "1" ] && systemctl is-active --quiet weston.service; then
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sudo systemctl restart weston.service
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# Weston can recreate wayland-0 as root on service restart before weston-ready
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# fixes ownership. Repair it here so the Qt UI can always reconnect.
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if [ -d /var/tmp/weston ]; then
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for _ in $(seq 1 50); do
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if [ -S /var/tmp/weston/wayland-0 ]; then
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sudo chown -R comma:comma /var/tmp/weston 2>/dev/null || true
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sudo chmod -R 700 /var/tmp/weston 2>/dev/null || true
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SOCKET_OWNER="$(stat -c '%U:%G' /var/tmp/weston/wayland-0 2>/dev/null || true)"
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[ "$SOCKET_OWNER" = "comma:comma" ] && break
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fi
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sleep 0.1
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done
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fi
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fi
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# Check if AGNOS update is required
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if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
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AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
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MANIFEST="$DIR/system/hardware/tici/agnos.json"
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if $AGNOS_PY --verify $MANIFEST; then
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sudo reboot
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fi
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$DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
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fi
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}
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function cleanup_legacy_device_state {
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echo "Cleaning up legacy device state"
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sudo rm -rf /data/params
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sudo rm -rf /persist/params
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sudo rm -rf /cache/params
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sudo rm -rf /data/media/0/realdata
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sudo rm -rf /data/media/0/realdata_HD
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sudo rm -rf /data/media/0/realdata_konik
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sudo rm -rf /data/models
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sudo rm -rf /data/toggle_backups
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sudo rm -rf /data/backups
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sudo rm -rf /data/themes
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sudo rm -rf /data/media/0/osm/offline
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sudo rm -rf /cache/use_HD
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sudo rm -rf /cache/use_konik
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}
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function launch {
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# Remove orphaned git lock if it exists on boot
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[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
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# Check to see if there's a valid overlay-based update available. Conditions
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# are as follows:
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#
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# 1. The DIR init file has to exist, with a newer modtime than anything in
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# the DIR Git repo. This checks for local development work or the user
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# switching branches/forks, which should not be overwritten.
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# 2. The FINALIZED consistent file has to exist, indicating there's an update
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# that completed successfully and synced to disk.
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if [ -f "${DIR}/.overlay_init" ]; then
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find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
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if [ $? -eq 0 ]; then
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echo "${DIR} has been modified, skipping overlay update installation"
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else
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if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
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if [ ! -d /data/safe_staging/old_openpilot ]; then
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echo "Valid overlay update found, installing"
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LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
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mv $DIR /data/safe_staging/old_openpilot
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mv "${STAGING_ROOT}/finalized" $DIR
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cd $DIR
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echo "Restarting launch script ${LAUNCHER_LOCATION}"
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unset AGNOS_VERSION
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exec "${LAUNCHER_LOCATION}"
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else
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echo "openpilot backup found, not updating"
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# TODO: restore backup? This means the updater didn't start after swapping
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fi
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fi
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fi
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fi
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# handle pythonpath
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ln -sfn $(pwd) /data/pythonpath
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export BASEDIR="$DIR"
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export PYTHONPATH="$DIR/starpilot/third_party:$PWD"
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# hardware specific init
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if [ -f /AGNOS ]; then
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agnos_init
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fi
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cleanup_legacy_device_state
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# write tmux scrollback to a file
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tmux capture-pane -pq -S-1000 > /tmp/launch_log
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# start manager
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cd system/manager
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if ! python3 ./launch_param_migrations.py; then
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echo "Launch param migrations failed; continuing boot."
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fi
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# Bootstrap runtime (e.g. /usr/comma after reset/uninstall) must go straight
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# to manager/setup flow. Do not run StarPilot prebuilt checks/builds here.
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if [ "$DIR" = "/usr/comma" ] || [ ! -d "$DIR/.git" ]; then
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./manager.py
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while true; do sleep 1; done
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fi
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function prebuilt_runtime_compatible {
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python3 - <<'PY'
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import importlib
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from pathlib import Path
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import sys
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mods = [
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"openpilot.common.params_pyx",
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"msgq.ipc_pyx",
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"msgq.visionipc.visionipc_pyx",
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"openpilot.common.transformations.transformations",
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"openpilot.selfdrive.modeld.models.commonmodel_pyx",
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"openpilot.selfdrive.pandad.pandad_api_impl",
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"openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
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"openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
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]
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for mod in mods:
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try:
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importlib.import_module(mod)
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except Exception as e:
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print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
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raise
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repo_root = Path.cwd().parents[1]
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required_files = [
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repo_root / "selfdrive/modeld/models/driving_vision_metadata.pkl",
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repo_root / "selfdrive/modeld/models/driving_policy_metadata.pkl",
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repo_root / "selfdrive/modeld/models/driving_vision_tinygrad.pkl",
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repo_root / "selfdrive/modeld/models/driving_policy_tinygrad.pkl",
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repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
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repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
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repo_root / "selfdrive/pandad/pandad_api_impl.so",
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repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
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repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
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repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
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repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
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repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
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]
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for path in required_files:
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if not path.is_file():
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raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
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PY
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}
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USE_PREBUILT=1
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if [ -f /data/params/d/UsePrebuilt ]; then
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USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
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fi
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if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
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echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
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USE_PREBUILT=0
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fi
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if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
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./build.py
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fi
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./manager.py
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# if broken, keep on screen error
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while true; do sleep 1; done
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}
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launch
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