mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-10-28 00:53:48 +08:00
Adeeb Shihadeh
241 lines
6.7 KiB
Bash
Executable File
241 lines
6.7 KiB
Bash
Executable File
#!/bin/bash -e
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# Service definitions for the read-only Ubuntu image.
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SV=/etc/sv
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RUNSVDIR=/etc/service
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mkdir -p "$RUNSVDIR"
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as_comma='setpriv --reuid=comma --regid=comma --init-groups env HOME=/home/comma USER=comma LOGNAME=comma'
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mk() { # name: create dir, logger log service, supervise symlinks onto /run
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local n=$1
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mkdir -p "$SV/$n/log"
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cat > "$SV/$n/log/run" <<EOF
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#!/bin/sh
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exec logger --socket-errors=on -t $n -p daemon.info
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EOF
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ln -sfn "/run/runit/supervise.$n" "$SV/$n/supervise"
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ln -sfn "/run/runit/supervise.$n-log" "$SV/$n/log/supervise"
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}
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oneshot() { # name, command...
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local n=$1; shift
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mk "$n"
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cat > "$SV/$n/run" <<EOF
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#!/bin/sh
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# oneshot (systemd Type=oneshot): run once per boot, then park so runit doesn't restart it
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exec 2>&1
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rm -f /run/agnos-oneshot.$n
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$* || exit \$?
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touch /run/agnos-oneshot.$n
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exec sleep infinity
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EOF
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cat > "$SV/$n/finish" <<EOF
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#!/bin/sh
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rm -f /run/agnos-oneshot.$n
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EOF
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}
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simple() { # name, command (exec'd)
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local n=$1; shift
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mk "$n"
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cat > "$SV/$n/run" <<EOF
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#!/bin/sh
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exec 2>&1
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exec $*
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EOF
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}
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oneshot gpio /usr/comma/gpio.sh
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oneshot cdsp "sh -c 'echo 1 > /sys/kernel/boot_cdsp/boot'"
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oneshot sound /usr/comma/sound/sound_init.sh
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oneshot screen_calibration /usr/comma/screen_calibration.py
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oneshot agnos-debug "$as_comma /usr/comma/debug.py"
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simple wifi-hardware /usr/comma/wifi.sh
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simple varwatch /usr/local/venv/bin/python -u /usr/comma/varwatch.py
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simple power_monitor /usr/local/venv/bin/python -u /usr/comma/power_monitor.py
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simple brightnessd /usr/local/venv/bin/python -u /usr/comma/brightnessd.py
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simple adbd /usr/comma/adbd
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mk power_drop_monitor
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cat > $SV/power_drop_monitor/run <<'EOF'
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#!/bin/sh
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exec 2>&1
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# ExecCondition: only on tici/tizi; otherwise stay down
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grep -q -E "tici|tizi" /sys/firmware/devicetree/base/model || { sv down power_drop_monitor; exec sleep infinity; }
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exec /usr/local/venv/bin/python -u /usr/comma/power_drop_monitor.py
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EOF
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mk lte
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cat > $SV/lte/run <<'EOF'
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#!/bin/sh
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# RemainAfterExit service with an ExecStop
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exec 2>&1
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[ -e /run/agnos-oneshot.gpio ] || exit 1
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[ -e /run/agnos-oneshot.lte ] || { /usr/comma/lte/lte.sh start || exit 1; touch /run/agnos-oneshot.lte; }
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exec sleep infinity
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EOF
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cat > $SV/lte/finish <<'EOF'
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#!/bin/sh
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# runs on "sv down lte" or shutdown (and on any pause exit): ExecStop
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[ -e /run/agnos-oneshot.lte ] || exit 0
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rm -f /run/agnos-oneshot.lte
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/usr/comma/lte/lte.sh stop
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EOF
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mk modem
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cat > $SV/modem/run <<EOF
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#!/bin/sh
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exec 2>&1
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[ -e /run/agnos-oneshot.lte ] || exit 1
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sleep 5 # RestartSec=5
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exec $as_comma /usr/bin/python3 -u /usr/comma/modem.py
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EOF
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cat > $SV/modem/finish <<'EOF'
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#!/bin/sh
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rm -f /dev/shm/modem
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EOF
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mk magic
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cat > $SV/magic/run <<EOF
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#!/bin/bash
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exec 2>&1
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chgrp gpu /dev/ion /dev/kgsl-3d0
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chmod 660 /dev/ion /dev/kgsl-3d0
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mkdir -p /data/misc/display || true
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echo 0 > /data/misc/display/sdm_dbg_cfg.txt || true
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echo 0 > /data/misc/display/gbm_dbg_cfg.txt || true
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exec $as_comma /bin/bash -c "source /etc/profile && exec /usr/local/venv/bin/python -u /usr/comma/magic.py"
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EOF
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mk comma
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cat > $SV/comma/run <<EOF
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#!/bin/bash
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exec 2>&1
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ulimit -r 100
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ulimit -e 30
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$as_comma /usr/bin/tmux new-session -s comma -d /usr/comma/comma.sh || exit 1
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while $as_comma /usr/bin/tmux has-session -t comma 2>/dev/null; do sleep 1; done
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EOF
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cat > $SV/comma/finish <<EOF
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#!/bin/sh
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$as_comma /usr/bin/tmux kill-session -t comma 2>/dev/null
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exit 0
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EOF
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# mdev rescans after binding netlink, recovering events during the handover.
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mk mdev
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cat > $SV/mdev/run <<'EOF'
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#!/bin/sh
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exec 2>&1
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echo '' > /proc/sys/kernel/hotplug
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/usr/comma/hotplug.py --coldplug
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exec busybox mdev -df
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EOF
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simple wpa_supplicant /sbin/wpa_supplicant -i wlan0 -D nl80211 -c /etc/wpa_supplicant/comma.conf
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simple wifi /usr/bin/python3 -u /usr/comma/wifi.py
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simple ethernet /usr/bin/python3 -u /usr/comma/ethernet.py
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simple mdns /usr/bin/python3 -u /usr/comma/mdns.py
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# journald replacement: in-memory ring buffer, read with logread
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mkdir -p $SV/syslogd
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ln -sfn /run/runit/supervise.syslogd $SV/syslogd/supervise
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cat > $SV/syslogd/run <<'EOF'
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#!/bin/sh
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exec busybox syslogd -n -C4096
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EOF
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# systemd-timesyncd replacement
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simple ntpd /usr/sbin/chronyd -d -f /etc/chrony/agnos.conf
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simple klogd busybox klogd -n
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mk sshd
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# sshd with ssh.service.d/override.conf (host keys on /data)
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cat > $SV/sshd/run <<'EOF'
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#!/bin/sh
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exec 2>&1
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mkdir -p /data/etc/ssh/ /run/sshd
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ssh-keygen -A -f /data
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/usr/sbin/sshd -t || exit 1
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exec /usr/sbin/sshd -D
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EOF
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watcher() { # name, param file, script
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mk "$1"
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cat > "$SV/$1/run" <<EOF
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#!/bin/sh
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# Replaces $1.path (PathModified=$2) + $1.service with a poll loop.
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exec 2>&1
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last=unknown
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while :; do
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cur=\$(cat "$2" 2>/dev/null)
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if [ "\$cur" != "\$last" ]; then
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$3 && last="\$cur"
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fi
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sleep 2
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done
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EOF
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}
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watcher ssh-param-watcher /data/params/d/SshEnabled /usr/comma/set_ssh.sh
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watcher adb-param-watcher /data/params/d/AdbEnabled /usr/comma/set_adb.sh
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# Serial console. The systemd drop-in forced a hangup with stty hupcl.
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mk agetty-ttyMSM0
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rm -rf $SV/agetty-ttyMSM0/log
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cat > $SV/agetty-ttyMSM0/run <<'EOF'
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#!/bin/sh
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/bin/stty -F /dev/ttyMSM0 hupcl
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exec chpst -P /sbin/agetty -L -8 ttyMSM0 115200 vt100
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EOF
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# Signal the entire service process group on stop (wifi.sh has child daemons).
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for service in "$SV"/*; do
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[ -f "$service/run" ] || continue
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mv "$service/run" "$service/start"
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chmod 755 "$service/start"
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cat > "$service/run" <<'EOF'
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#!/bin/sh
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exec chpst -P ./start
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EOF
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mkdir -p "$service/control"
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cat > "$service/control/t" <<'EOF'
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#!/bin/sh
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pid=$(cat supervise/pid)
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[ "$pid" -gt 1 ] || exit 1
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/bin/kill -TERM -- "-$pid"
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EOF
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chmod 755 "$service/control/t"
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done
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chmod 755 $SV/*/run $SV/*/log/run
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chmod 755 $SV/*/finish 2>/dev/null || true
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# --- runlevel ---
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rm -f $RUNSVDIR/*
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ENABLED=(
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syslogd klogd mdev wpa_supplicant wifi ethernet mdns ntpd
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agetty-ttyMSM0
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gpio cdsp wifi-hardware sound screen_calibration agnos-debug
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magic comma brightnessd power_monitor varwatch
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lte modem power_drop_monitor ssh-param-watcher adb-param-watcher
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)
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# Parameter watchers opt in to remote access.
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DOWN=(adbd sshd)
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for s in "${ENABLED[@]}" "${DOWN[@]}"; do
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test -d "$SV/$s" || { echo "missing service $s"; exit 1; }
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ln -sfn "$SV/$s" "$RUNSVDIR/$s"
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done
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for s in "${DOWN[@]}"; do touch "$SV/$s/down"; done
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# The kernel starts runit directly; keep its mutable flags in tmpfs.
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ln -sfn /sbin/runit /sbin/init
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for flag in stopit reboot; do ln -sfn /run/runit/$flag /etc/runit/$flag; done
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ln -sfn /bin/busybox /sbin/mdev
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chmod 755 /etc/runit/[123] /usr/local/bin/*
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# No systemd service manager, udev or D-Bus daemons.
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test ! -x /lib/systemd/systemd
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test ! -x /lib/systemd/systemd-udevd
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test ! -x /usr/bin/dbus-daemon
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test ! -e /lib/systemd/system/ModemManager.service
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for command in reboot poweroff; do ln -sfn /usr/local/bin/$command /sbin/$command; done
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ln -sfn /usr/local/bin/poweroff /sbin/halt
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