mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-29 01:23:58 +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.
523 lines
16 KiB
Bash
Executable File
523 lines
16 KiB
Bash
Executable File
#!/usr/bin/env bash
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if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then
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echo "Invalid invocation! This script must not be sourced."
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echo "Run 'op.sh' directly or check your .bashrc for a valid alias"
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return 0
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fi
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set -e
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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UNDERLINE='\033[4m'
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BOLD='\033[1m'
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NC='\033[0m'
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SHELL_NAME="$(basename "${SHELL}")"
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RC_FILE="${HOME}/.$(basename "${SHELL}")rc"
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if [ "$(uname)" == "Darwin" ] && [ "$SHELL" == "/bin/bash" ]; then
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RC_FILE="$HOME/.bash_profile"
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fi
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function retry() {
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local attempts=$1
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shift
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for i in $(seq 1 "$attempts"); do
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if "$@"; then
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return 0
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fi
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if [ "$i" -lt "$attempts" ]; then
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echo " Attempt $i/$attempts failed, retrying in 5s..."
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sleep 5
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fi
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done
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return 1
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}
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function op_run_command() {
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CMD="$*"
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echo -e "${BOLD}Running command →${NC} $CMD │"
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for ((i=0; i<$((19 + ${#CMD})); i++)); do
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echo -n "─"
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done
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echo -e "┘\n"
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if [[ -z "$DRY" ]]; then
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"$@"
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fi
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}
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# be default, assume openpilot dir is in current directory
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OPENPILOT_ROOT=$(pwd)
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function op_get_openpilot_dir() {
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# First try traversing up the directory tree
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while [[ "$OPENPILOT_ROOT" != '/' ]];
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do
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if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
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return 0
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fi
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OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
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done
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# Fallback to hardcoded directories if not found
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
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for dir in "$(readlink -f "$SCRIPT_DIR/../..")" "$HOME/openpilot" "/data/openpilot"; do
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if [[ -f "$dir/launch_openpilot.sh" ]]; then
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OPENPILOT_ROOT="$dir"
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return 0
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fi
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done
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}
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function op_install_post_commit() {
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op_get_openpilot_dir
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op_check_openpilot_dir
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local git_dir common_dir hooks_dir hook_source
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git_dir="$(git -C "$OPENPILOT_ROOT" rev-parse --absolute-git-dir)"
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common_dir="$(git -C "$OPENPILOT_ROOT" rev-parse --path-format=absolute --git-common-dir)"
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if [[ "$git_dir" != "$common_dir" || -d "$common_dir/worktrees" ]]; then
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echo "Hook installation requires a standalone checkout without linked worktrees; shared hooks were not changed."
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return 1
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fi
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hooks_dir="$(git -C "$OPENPILOT_ROOT" rev-parse --path-format=absolute --git-path hooks)"
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if [[ "$hooks_dir" != "$git_dir/hooks" ]]; then
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echo "A custom hooks directory is configured; install the linter there manually. Existing hooks were not changed."
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return 1
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fi
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hook_source="$(cd "$OPENPILOT_ROOT" && pwd)/scripts/post-commit"
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mkdir -p "$hooks_dir/post-commit.d"
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if [[ ( -e "$hooks_dir/post-commit" || -L "$hooks_dir/post-commit" ) && ! "$hooks_dir/post-commit" -ef "$hook_source" ]]; then
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if [[ -e "$hooks_dir/post-commit.d/post-commit" || -L "$hooks_dir/post-commit.d/post-commit" ]]; then
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echo "An earlier post-commit hook is already saved; resolve the two existing hooks before installing."
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return 1
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fi
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mv "$hooks_dir/post-commit" "$hooks_dir/post-commit.d/post-commit"
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fi
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ln -sf "$hook_source" "$hooks_dir/post-commit"
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}
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function op_check_openpilot_dir() {
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echo "Checking for openpilot directory..."
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if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
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return 0
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fi
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echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
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echo " inside the openpilot directory or specify one with the"
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echo " --dir option!"
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return 1
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}
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function op_check_git() {
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echo "Checking for git..."
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if ! command -v "git" > /dev/null 2>&1; then
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echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
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return 1
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else
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echo -e " ↳ [${GREEN}✔${NC}] git found."
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fi
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echo "Checking checked-in model resources..."
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if [[ $(file -b "$OPENPILOT_ROOT/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx") == "data" ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] model resources found."
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else
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echo -e " ↳ [${RED}✗${NC}] model resources missing or invalid; restore the ordinary checkout"
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return 1
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fi
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echo "Checking tracked dependency sources..."
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op_check_dependencies
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}
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function op_check_dependencies() {
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local python_bin="$OPENPILOT_ROOT/.venv/bin/python3"
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if [[ ! -x "$python_bin" ]]; then
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python_bin=python3
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fi
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"$python_bin" "$OPENPILOT_ROOT/tools/vendor/check.py" "$@"
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}
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function op_check_os() {
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echo "Checking for compatible os version..."
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if [[ "$OSTYPE" == "linux-gnu"* ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] Linux detected."
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elif [[ "$OSTYPE" == "darwin"* ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
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else
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echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
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return 1
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fi
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}
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function op_check_venv() {
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echo "Checking for venv..."
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if [[ -f "$OPENPILOT_ROOT/.venv/bin/activate" ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] venv detected."
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else
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echo -e " ↳ [${RED}✗${NC}] Can't activate venv in '$OPENPILOT_ROOT'. Assuming global env!"
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fi
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}
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function op_before_cmd() {
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if [[ ! -z "$NO_VERIFY" ]]; then
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return 0
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fi
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op_get_openpilot_dir
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cd "$OPENPILOT_ROOT"
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result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
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op_activate_venv
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if [[ -z $VERBOSE ]]; then
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echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
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else
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echo -e "$result"
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fi
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}
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function op_setup() {
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echo "Installing op system-wide..."
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OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
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CMD=$(cat <<EOF
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alias op='$OP_SH "\$@"'
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_op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
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[ -n "\$BASH_VERSION" ] && complete -F _op_completions -o default op
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EOF
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)
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grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
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echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
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op_get_openpilot_dir
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cd "$OPENPILOT_ROOT"
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op_check_openpilot_dir
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op_check_os
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# Local Python package sources are shipped in the checkout. Bootstrap Python
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# before running the full manifest validator on machines without Python yet.
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for path in upstream-sync.json panda/pyproject.toml opendbc_repo/pyproject.toml msgq_repo/pyproject.toml rednose_repo/pyproject.toml teleoprtc_repo/pyproject.toml tinygrad_repo/pyproject.toml; do
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if [[ ! -f "$OPENPILOT_ROOT/$path" ]]; then
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echo "Missing tracked dependency source: $path. Restore the complete checkout."
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return 1
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fi
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done
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echo "Installing dependencies..."
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st="$(date +%s)"
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SETUP_SCRIPT="tools/setup_dependencies.sh"
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if ! "$OPENPILOT_ROOT/$SETUP_SCRIPT"; then
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echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
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return 1
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fi
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et="$(date +%s)"
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echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
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op_activate_venv
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op_check_dependencies
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op_check
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}
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function op_auth() {
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op_before_cmd
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op_run_command openpilot/tools/lib/auth.py "$@"
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}
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function op_activate_venv() {
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# bash 3.2 can't handle this without the 'set +e'
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set +e
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source "$OPENPILOT_ROOT/.venv/bin/activate" &> /dev/null || true
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set -e
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# persist venv on PATH across GitHub Actions steps
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if [ -n "$GITHUB_PATH" ]; then
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echo "$OPENPILOT_ROOT/.venv/bin" >> "$GITHUB_PATH"
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fi
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}
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function op_venv() {
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op_before_cmd
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if [[ ! -f "$OPENPILOT_ROOT/.venv/bin/activate" ]]; then
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echo -e "No venv found in '$OPENPILOT_ROOT'"
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return 1
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fi
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case $SHELL_NAME in
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"zsh")
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ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh')
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echo "source \"$RC_FILE\"; source \"$OPENPILOT_ROOT/.venv/bin/activate\"" >> "$ZSHRC_DIR/.zshrc"
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ZDOTDIR=$ZSHRC_DIR zsh ;;
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*)
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bash --rcfile <(echo "source \"$RC_FILE\"; source \"$OPENPILOT_ROOT/.venv/bin/activate\"") ;;
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esac
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}
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function op_adb() {
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op_before_cmd
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op_run_command tools/scripts/adb_ssh.sh "$@"
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}
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function op_ssh() {
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op_before_cmd
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op_run_command tools/scripts/ssh.py "$@"
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}
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function op_script() {
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op_before_cmd
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case $1 in
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som-debug ) op_run_command panda/scripts/som_debug.sh "${@:2}" ;;
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* )
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echo -e "Unknown script '$1'. Available scripts:"
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echo -e " ${BOLD}som-debug${NC} SOM serial debug console via panda"
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return 1
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;;
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esac
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}
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function op_check() {
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VERBOSE=1
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op_before_cmd
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unset VERBOSE
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}
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function op_esim() {
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op_before_cmd
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op_run_command openpilot/common/esim/esim.py "$@"
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}
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function op_build() {
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CDIR=$(pwd)
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op_before_cmd
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cd "$CDIR"
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if [[ -f "/AGNOS" ]]; then
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# needed on AGNOS to not run out of memory
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op_run_command openpilot/system/manager/build.py
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else
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op_run_command scons -u "$@"
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fi
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}
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function op_juggle() {
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op_before_cmd
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op_run_command openpilot/tools/plotjuggler/juggle.py "$@"
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}
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function op_lint() {
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op_before_cmd
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op_run_command scripts/lint/lint.sh "$@"
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}
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function op_test() {
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op_before_cmd
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op_run_command tools/test_runner.py "$@"
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}
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function op_replay() {
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op_before_cmd
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op_run_command openpilot/tools/replay/replay "$@"
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}
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function op_cabana() {
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op_before_cmd
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op_run_command openpilot/tools/cabana/cabana "$@"
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}
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function op_sim() {
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op_before_cmd
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op_run_command exec openpilot/tools/sim/run_bridge.py &
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op_run_command exec openpilot/tools/sim/launch_openpilot.sh
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}
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function op_clip() {
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op_before_cmd
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op_run_command openpilot/tools/clip/run.py "$@"
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}
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function op_docs() {
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op_before_cmd
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op_run_command python docs/serve.py "$@"
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}
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function op_check_agnos_update() {
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if [[ ! -f "/AGNOS" ]]; then
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return 0
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fi
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local choice current_version target_version
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current_version="$(< /VERSION)"
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target_version="$(unset AGNOS_VERSION; source "$OPENPILOT_ROOT/launch_env.sh"; echo "$AGNOS_VERSION")"
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if [[ "$current_version" == "$target_version" ]]; then
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return 0
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fi
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echo -e "${BOLD}AGNOS update available:${NC} $current_version → $target_version"
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if read -r -p "Install it now? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
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op_run_command "$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.py" --swap \
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"$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.json"
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if read -r -p "Reboot now to apply the update? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
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op_run_command sudo reboot
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else
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echo "Reboot before starting openpilot to apply the AGNOS update."
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fi
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fi
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}
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function op_switch() {
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op_get_openpilot_dir
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op_check_openpilot_dir
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cd "$OPENPILOT_ROOT"
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REMOTE="origin"
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if [ "$#" -gt 1 ]; then
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REMOTE="$1"
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shift
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fi
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if [ -z "$1" ]; then
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echo -e "${BOLD}${UNDERLINE}Usage:${NC} op switch [REMOTE] <BRANCH>"
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return 1
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fi
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BRANCH="$1"
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git config --replace-all "remote.${REMOTE}.fetch" "+refs/heads/*:refs/remotes/${REMOTE}/*"
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git -c submodule.recurse=false fetch --no-recurse-submodules "$REMOTE" "$BRANCH"
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local target_commit
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target_commit="$(git rev-parse 'FETCH_HEAD^{commit}')"
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# Validate the target before discarding the current checkout's changes.
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op_check_dependencies --revision "$target_commit"
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git -c submodule.recurse=false checkout --force --no-recurse-submodules -B "$BRANCH" "$target_commit"
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git branch --set-upstream-to="${REMOTE}/${BRANCH}" "$BRANCH"
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git -c submodule.recurse=false reset --hard --no-recurse-submodules "$target_commit"
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git clean -df
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op_check_dependencies
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# remove openpilot update flag if present
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rm -f .overlay_init
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op_check_agnos_update
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}
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function op_start() {
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if [[ -f "/AGNOS" ]]; then
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op_before_cmd
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op_check_agnos_update
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op_run_command sudo systemctl restart comma "$@"
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fi
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}
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function op_stop() {
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if [[ -f "/AGNOS" ]]; then
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op_before_cmd
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op_run_command sudo systemctl stop comma "$@"
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fi
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}
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function op_default() {
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echo "An openpilot helper"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Description:${NC}"
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echo " op is your entry point for all things related to openpilot development."
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echo " op is only a wrapper for existing scripts, tools, and commands."
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echo " op will always show you what it will run on your system."
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echo ""
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echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
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echo -e " ${BOLD}auth${NC} Authenticate yourself for API use"
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echo -e " ${BOLD}check${NC} Check the development environment (git, os) to start using openpilot"
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echo -e " ${BOLD}esim${NC} Manage eSIM profiles on your comma device"
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echo -e " ${BOLD}venv${NC} Activate the python virtual environment"
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echo -e " ${BOLD}setup${NC} Install the 'op' tool and openpilot dependencies"
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echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory"
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echo -e " ${BOLD}switch${NC} Switch to a different git branch with a clean slate (nukes any changes)"
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echo -e " ${BOLD}start${NC} Starts (or restarts) openpilot"
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echo -e " ${BOLD}stop${NC} Stops openpilot"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
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echo -e " ${BOLD}juggle${NC} Run PlotJuggler"
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echo -e " ${BOLD}replay${NC} Run Replay"
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echo -e " ${BOLD}cabana${NC} Run Cabana"
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echo -e " ${BOLD}clip${NC} Run clip (linux only)"
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echo -e " ${BOLD}docs${NC} Build or serve the openpilot documentation"
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echo -e " ${BOLD}adb${NC} Run adb shell"
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echo -e " ${BOLD}ssh${NC} comma prime SSH helper"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [Scripts]:${NC}"
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echo -e " ${BOLD}script${NC} Run a script (e.g. op script som-debug)"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
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echo -e " ${BOLD}sim${NC} Run openpilot in a simulator"
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echo -e " ${BOLD}lint${NC} Run the linter"
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echo -e " ${BOLD}post-commit${NC} Install the linter as a post-commit hook"
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echo -e " ${BOLD}test${NC} Run all unit tests"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Options:${NC}"
|
|
echo -e " ${BOLD}-d, --dir${NC}"
|
|
echo " Specify the openpilot directory you want to use"
|
|
echo -e " ${BOLD}--dry${NC}"
|
|
echo " Don't actually run anything, just print what would be run"
|
|
echo -e " ${BOLD}-n, --no-verify${NC}"
|
|
echo " Skip environment check before running commands"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
|
|
echo " op setup"
|
|
echo " Run the setup script to install"
|
|
echo " openpilot's dependencies."
|
|
echo ""
|
|
echo " op build -j4"
|
|
echo " Compile openpilot using 4 cores"
|
|
echo ""
|
|
echo " op juggle --demo"
|
|
echo " Run PlotJuggler on the demo route"
|
|
}
|
|
|
|
|
|
function _op() {
|
|
# parse Options
|
|
case $1 in
|
|
-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
|
|
--dry ) shift 1; DRY="1" ;;
|
|
-n | --no-verify ) shift 1; NO_VERIFY="1" ;;
|
|
esac
|
|
|
|
# parse Commands
|
|
case $1 in
|
|
auth ) shift 1; op_auth "$@" ;;
|
|
venv ) shift 1; op_venv "$@" ;;
|
|
check ) shift 1; op_check "$@" ;;
|
|
esim ) shift 1; op_esim "$@" ;;
|
|
setup ) shift 1; op_setup "$@" ;;
|
|
build ) shift 1; op_build "$@" ;;
|
|
juggle ) shift 1; op_juggle "$@" ;;
|
|
cabana ) shift 1; op_cabana "$@" ;;
|
|
lint ) shift 1; op_lint "$@" ;;
|
|
test ) shift 1; op_test "$@" ;;
|
|
replay ) shift 1; op_replay "$@" ;;
|
|
clip ) shift 1; op_clip "$@" ;;
|
|
docs ) shift 1; op_docs "$@" ;;
|
|
sim ) shift 1; op_sim "$@" ;;
|
|
switch ) shift 1; op_switch "$@" ;;
|
|
start ) shift 1; op_start "$@" ;;
|
|
stop ) shift 1; op_stop "$@" ;;
|
|
restart ) shift 1; op_restart "$@" ;;
|
|
post-commit ) shift 1; op_install_post_commit "$@" ;;
|
|
adb ) shift 1; op_adb "$@" ;;
|
|
ssh ) shift 1; op_ssh "$@" ;;
|
|
script ) shift 1; op_script "$@" ;;
|
|
* ) op_default "$@" ;;
|
|
esac
|
|
}
|
|
|
|
_op "$@"
|