mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
139 lines
4.1 KiB
Bash
Executable File
139 lines
4.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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HOST="${1:-comma@192.168.3.110}"
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IMAGE="${2:-/Users/dominickthompson/Desktop/system7.img.xz}"
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SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd -- "${SCRIPT_DIR}/../.." && pwd)"
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SSH_KEY="${SSH_KEY:-${REPO_ROOT}/system/hardware/tici/id_rsa}"
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SSH_OPTS=(-i "$SSH_KEY" -o BatchMode=yes -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null)
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SESSION="local_agnos_flash"
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REMOTE_DIR="/data/local_agnos_flash"
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REMOTE_MANIFEST="${REMOTE_DIR}/agnos-local-system.json"
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REMOTE_RUNNER="${REMOTE_DIR}/run_flash.sh"
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REMOTE_AGNOS="${REMOTE_DIR}/agnos.py"
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PORT="8989"
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EXPECTED_VERSION="12.8.27"
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RAW_HASH="1b71fd1835610e46c9d3f2d13e389108df4777308a6128e5b794b6875c91012e"
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RAW_SIZE="5368709120"
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if [[ ! -f "$IMAGE" ]]; then
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echo "missing image: $IMAGE" >&2
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exit 1
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fi
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IMAGE_NAME="$(basename "$IMAGE")"
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REMOTE_IMAGE="${REMOTE_DIR}/${IMAGE_NAME}"
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ssh "${SSH_OPTS[@]}" "$HOST" "mkdir -p '$REMOTE_DIR'"
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scp "${SSH_OPTS[@]}" "$IMAGE" "$HOST:$REMOTE_IMAGE"
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LOCAL_AGNOS="$(mktemp "${TMPDIR:-/tmp}/agnos-local.XXXXXX.py")"
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python3 - "$REPO_ROOT/system/hardware/tici/agnos.py" "$LOCAL_AGNOS" <<'PY'
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import sys
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from pathlib import Path
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src, dst = map(Path, sys.argv[1:])
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data = src.read_text(encoding="utf-8")
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data = data.replace(
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"import openpilot.system.updated.casync.casync as casync",
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"""class _UnusedCasync:
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def __getattr__(self, name):
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raise RuntimeError("casync support is unavailable in local AGNOS flash runner")
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casync = _UnusedCasync()""",
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)
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dst.write_text(data, encoding="utf-8")
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PY
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scp "${SSH_OPTS[@]}" "$LOCAL_AGNOS" "$HOST:$REMOTE_AGNOS"
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rm -f "$LOCAL_AGNOS"
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ssh "${SSH_OPTS[@]}" "$HOST" "cat > '$REMOTE_MANIFEST'" <<MANIFEST
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[
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{
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"name": "system",
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"url": "http://127.0.0.1:${PORT}/${IMAGE_NAME}",
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"hash": "${RAW_HASH}",
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"hash_raw": "${RAW_HASH}",
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"size": ${RAW_SIZE},
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"sparse": false,
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"full_check": false,
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"has_ab": true
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}
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]
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MANIFEST
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ssh "${SSH_OPTS[@]}" "$HOST" "cat > '$REMOTE_RUNNER' && chmod +x '$REMOTE_RUNNER'" <<'REMOTE_RUNNER'
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#!/usr/bin/env bash
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set -euo pipefail
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: "${REMOTE_DIR:?}"
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: "${REMOTE_MANIFEST:?}"
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: "${REMOTE_AGNOS:?}"
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: "${PORT:?}"
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: "${IMAGE_NAME:?}"
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: "${EXPECTED_VERSION:?}"
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exec > >(tee -a "${REMOTE_DIR}/flash.log") 2>&1
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echo "[STEP] Local AGNOS system flash"
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echo "[CHECK] Installed AGNOS: $(cat /VERSION 2>/dev/null || echo unknown)"
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echo "[CHECK] Target AGNOS: ${EXPECTED_VERSION}"
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if [[ ! -f "$REMOTE_AGNOS" ]]; then
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echo "[ERROR] $REMOTE_AGNOS not found" >&2
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exit 1
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fi
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if [[ -x /usr/local/venv/bin/python3 ]]; then
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PYTHON_BIN="/usr/local/venv/bin/python3"
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else
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PYTHON_BIN="python3"
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fi
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pkill -f "http.server ${PORT}.*${REMOTE_DIR}" >/dev/null 2>&1 || true
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"$PYTHON_BIN" -m http.server "$PORT" --bind 127.0.0.1 --directory "$REMOTE_DIR" >"${REMOTE_DIR}/http.log" 2>&1 &
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http_pid="$!"
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trap 'kill "$http_pid" >/dev/null 2>&1 || true' EXIT
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http_ready=0
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for _ in $(seq 1 20); do
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if "$PYTHON_BIN" - "${PORT}" "${IMAGE_NAME}" <<'PY'
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import sys
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import urllib.request
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port, image_name = sys.argv[1], sys.argv[2]
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with urllib.request.urlopen(f"http://127.0.0.1:{port}/{image_name}", timeout=2) as resp:
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resp.read(1)
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PY
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then
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http_ready=1
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break
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fi
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sleep 0.25
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done
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if [[ "$http_ready" != "1" ]]; then
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echo "[ERROR] Local image HTTP server did not become ready" >&2
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cat "${REMOTE_DIR}/http.log" >&2 || true
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exit 1
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fi
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echo "[FLASH] Flashing local system image to inactive AGNOS slot"
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PYTHONPATH="$(dirname "$REMOTE_AGNOS")" "$PYTHON_BIN" "$REMOTE_AGNOS" --swap "$REMOTE_MANIFEST"
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echo "[DONE] AGNOS flashed and slot swapped"
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echo "[REBOOT] Rebooting now"
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sudo reboot
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REMOTE_RUNNER
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ssh "${SSH_OPTS[@]}" "$HOST" "tmux kill-session -t '$SESSION' >/dev/null 2>&1 || true"
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ssh "${SSH_OPTS[@]}" "$HOST" "rm -f '$REMOTE_DIR/flash.log' '$REMOTE_DIR/http.log'"
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ssh "${SSH_OPTS[@]}" "$HOST" \
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"tmux new-session -d -s '$SESSION' \"REMOTE_DIR='$REMOTE_DIR' REMOTE_MANIFEST='$REMOTE_MANIFEST' REMOTE_AGNOS='$REMOTE_AGNOS' PORT='$PORT' IMAGE_NAME='$IMAGE_NAME' EXPECTED_VERSION='$EXPECTED_VERSION' bash '$REMOTE_RUNNER'\""
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echo "Started remote tmux session: $SESSION"
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echo "Watch it with: ssh $HOST 'tmux attach -t $SESSION'"
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