openpilot-evo/openpilot/selfdrive/test/setup_device_ci.sh

#!/usr/bin/env bash

set -e
set -x


if [ -z "$SOURCE_DIR" ]; then
  echo "SOURCE_DIR must be set"
  exit 1
fi

if [ -z "$GIT_COMMIT" ]; then
  echo "GIT_COMMIT must be set"
  exit 1
fi

if [ -z "$TEST_DIR" ]; then
  echo "TEST_DIR must be set"
  exit 1
fi

# prevent storage from filling up
rm -rf /data/media/0/realdata/*

rm -rf /data/safe_staging/ || true
if [ -d /data/safe_staging/ ]; then
  sudo umount /data/safe_staging/merged/ || true
  rm -rf /data/safe_staging/ || true
fi

CONTINUE_PATH="/data/continue.sh"
tee $CONTINUE_PATH << EOF
#!/usr/bin/env bash

sudo abctl --set_success

# patch sshd config
sudo mount -o rw,remount /
sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
sudo systemctl daemon-reload
sudo systemctl restart ssh
sudo systemctl restart NetworkManager
sudo systemctl disable ssh-param-watcher.path
sudo systemctl disable ssh-param-watcher.service
sudo mount -o ro,remount /
sudo systemctl stop power_monitor

while true; do
  if ! sudo systemctl is-active -q ssh; then
    sudo systemctl start ssh
  fi
  sleep 5s
done

sleep infinity
EOF
chmod +x $CONTINUE_PATH

export GIT_LFS_SKIP_SMUDGE=1
pull_lfs() {
  # The big driving model is not used on these devices yet. Keep its pointer in
  # the worktree, but don't download or copy the 1.8 GB LFS object.
  LFS_EXCLUDE="openpilot/selfdrive/modeld/models/big_driving_vision.onnx openpilot/selfdrive/modeld/models/big_driving_on_policy.onnx openpilot/selfdrive/modeld/models/big_driving_off_policy.onnx"

  git config --local lfs.fetchexclude "$LFS_EXCLUDE"
  git lfs pull --exclude="$LFS_EXCLUDE"
  for f in $LFS_EXCLUDE; do
    if git cat-file -e "HEAD:$f"; then
      rm -f "$f"
      git checkout -- "$f"

      # `git lfs prune` retains objects referenced by HEAD, even when excluded.
      # Remove this one explicitly so safe checkout doesn't rsync it either.
      oid=$(git show "HEAD:$f" | sed -n 's/^oid sha256://p')
      lfs_objects=$(git lfs env | sed -n 's/^LocalMediaDir=//p')
      if [[ "$oid" =~ ^[0-9a-f]{64}$ && -n "$lfs_objects" ]]; then
        rm -f "$lfs_objects/${oid:0:2}/${oid:2:2}/$oid"
      fi
    fi
  done
}

safe_checkout() {
  # completely clean TEST_DIR

  cd $SOURCE_DIR

  # cleanup orphaned locks
  find .git -type f -name "*.lock" -exec rm {} +

  git reset --hard
  git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
  find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
  git reset --hard $GIT_COMMIT
  git checkout $GIT_COMMIT
  git clean -xdff
  git submodule sync
  git submodule foreach --recursive "git reset --hard && git clean -xdff"
  git submodule update --init --recursive
  git submodule foreach --recursive "git reset --hard && git clean -xdff"

  pull_lfs

  echo "git checkout done, t=$SECONDS"
  du -hs $SOURCE_DIR $SOURCE_DIR/.git

  rsync -a --delete $SOURCE_DIR $TEST_DIR
}

unsafe_checkout() {( set -e
  # checkout directly in test dir, leave old build products

  cd $TEST_DIR

  # cleanup orphaned locks
  find .git -type f -name "*.lock" -exec rm {} +

  git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
  git checkout --force --no-recurse-submodules $GIT_COMMIT
  git reset --hard $GIT_COMMIT
  git clean -dff
  git submodule sync
  git submodule foreach --recursive "git reset --hard && git clean -df"
  git submodule update --init --recursive
  git submodule foreach --recursive "git reset --hard && git clean -df"

  pull_lfs
)}

export GIT_PACK_THREADS=8

# set up environment
if [ ! -d "$SOURCE_DIR" ]; then
  git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
fi

if [ ! -z "$UNSAFE" ]; then
  echo "trying unsafe checkout"
  set +e
  unsafe_checkout
  if [[ "$?" -ne 0 ]]; then
    safe_checkout
  fi
  set -e
else
  echo "doing safe checkout"
  safe_checkout
fi

# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
cd $TEST_DIR
ln -sfn msgq_repo/msgq msgq
ln -sfn opendbc_repo/opendbc opendbc
ln -sfn rednose_repo/rednose rednose
ln -sfn teleoprtc_repo/teleoprtc teleoprtc
ln -sfn tinygrad_repo/tinygrad tinygrad

echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"