mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
103 lines
3.1 KiB
Bash
Executable File
103 lines
3.1 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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rm -f /data/scons_cache/config.lock
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# set success flag for current boot slot
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sudo abctl --set_success
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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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# Check if AGNOS update is required
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if [ "$(< /VERSION)" != "$AGNOS_VERSION" ]; then
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AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
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MANIFEST="$DIR/openpilot/system/hardware/comma/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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while true; do
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"$DIR/openpilot/common/hardware/comma/updater" "$AGNOS_PY" "$MANIFEST"
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done
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fi
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}
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function launch {
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# Remove orphaned git lock if it exists on boot
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[ -f "$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 "$(pwd)" /data/pythonpath
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export PYTHONPATH="$PWD"
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# Dependency package symlinks for PYTHONPATH imports on device.
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# on PC these come from editable installs via pyproject.toml / uv.
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ln -sfn msgq_repo/msgq msgq
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ln -sfn opendbc_repo/opendbc opendbc
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ln -sfn rednose_repo/rednose rednose
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ln -sfn teleoprtc_repo/teleoprtc teleoprtc
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ln -sfn tinygrad_repo/tinygrad tinygrad
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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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# 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 openpilot/system/manager
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if [ ! -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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