f97149e1b5
* fix routeinfo... * livePose -> liveLocationKalman * fix.. * for debug.. socketmaster * fix.. SCC track * fix.. carrotman * comfortBrake 2.5 -> 2.4 * fix.. * test gps debug * test gps * revert * test gps msg * test restart * ff * ff * ff * liveDelay(SAD), latSmoothSeconds (#158) * SAD default: 0 (use liveDelay)
117 lines
3.7 KiB
Bash
Executable File
117 lines
3.7 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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# 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="$DIR/system/hardware/tici/agnos.py"
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MANIFEST="$DIR/system/hardware/tici/agnos.json"
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if $AGNOS_PY --verify $MANIFEST; then
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sudo reboot
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fi
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$DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
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fi
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}
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function launch {
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# Remove orphaned git lock if it exists on boot
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[ -f "$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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# 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-1500 > /tmp/launch_log
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if python -c "import flask" > /dev/null 2>&1; then
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echo "Flask already installed."
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else
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echo "Flask installing."
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pip install flask
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fi
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if python -c "import shapely" > /dev/null 2>&1; then
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echo "shapely already installed."
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else
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echo "shapely installing."
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pip install shapely
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fi
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# events language init
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#LANG=$(cat ${PARAMS_ROOT}/d/LanguageSetting)
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LANG=$(cat /data/params/d/LanguageSetting)
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EVENTSTAT=$(git status)
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# events.py 한글로 변경 및 파일이 교체된 상태인지 확인
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if [ "${LANG}" = "main_ko" ] && [[ ! "${EVENTSTAT}" == *"modified: selfdrive/controls/lib/events.py"* ]]; then
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cp -f $DIR/selfdrive/selfdrived/events.py $DIR/scripts/add/events_en.py
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cp -f $DIR/scripts/add/events_ko.py $DIR/selfdrive/selfdrived/events.py
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elif [ "${LANG}" = "main_en" ] && [[ "${EVENTSTAT}" == *"modified: selfdrive/controls/lib/events.py"* ]]; then
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cp -f $DIR/scripts/add/events_en.py $DIR/selfdrive/selfdrived/events.py
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fi
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# start manager
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cd 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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