openpilot/launch_chffrplus.sh

196 lines
6.0 KiB
Bash
Executable File

#!/usr/bin/bash
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function two_init {
# set IO scheduler
setprop sys.io.scheduler noop
for f in /sys/block/*/queue/scheduler; do
echo noop > $f
done
# *** shield cores 2-3 ***
# TODO: should we enable this?
# offline cores 2-3 to force recurring timers onto the other cores
#echo 0 > /sys/devices/system/cpu/cpu2/online
#echo 0 > /sys/devices/system/cpu/cpu3/online
#echo 1 > /sys/devices/system/cpu/cpu2/online
#echo 1 > /sys/devices/system/cpu/cpu3/online
# android gets two cores
echo 0-1 > /dev/cpuset/background/cpus
echo 0-1 > /dev/cpuset/system-background/cpus
echo 0-1 > /dev/cpuset/foreground/cpus
echo 0-1 > /dev/cpuset/foreground/boost/cpus
echo 0-1 > /dev/cpuset/android/cpus
# openpilot gets all the cores
echo 0-3 > /dev/cpuset/app/cpus
# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
# *** set up governors ***
# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
# unclear if these help, but they don't seem to hurt
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
# GPU
echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
# it seems to gain nothing but a wasted 500mW
# *** set up IRQ affinities ***
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
echo 1 > /proc/irq/6/smp_affinity_list # MDSS
# USB traffic needs realtime handling on cpu 3
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
# GPU and camera get cpu 2
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
for irq in $CAM_IRQS; do
echo 2 > /proc/irq/$irq/smp_affinity_list
done
echo 2 > /proc/irq/193/smp_affinity_list # GPU
# give GPU threads RT priority
for pid in $(pgrep "kgsl"); do
chrt -f -p 52 $pid
done
# the flippening!
LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
# disable bluetooth
service call bluetooth_manager 8
# wifi scan
wpa_cli IFNAME=wlan0 SCAN
# Check for NEOS update
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
echo "Installing NEOS update"
NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
$NEOS_PY --swap-if-ready $MANIFEST
$DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
fi
}
function tici_init {
# wait longer for weston to come up
if [ -f "$BASEDIR/prebuilt" ]; then
sleep 3
fi
# setup governors
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
# TODO: move this to agnos
# network manager config
nmcli connection modify --temporary lte gsm.auto-config yes
nmcli connection modify --temporary lte gsm.home-only yes
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
# set success flag for current boot slot
sudo abctl --set_success
# Check if AGNOS update is required
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
if $AGNOS_PY --verify $MANIFEST; then
sudo reboot
fi
$DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
fi
}
function launch {
# Remove orphaned git lock if it exists on boot
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
# Pull time from panda
$DIR/selfdrive/boardd/set_time.py
# Check to see if there's a valid overlay-based update available. Conditions
# are as follows:
#
# 1. The BASEDIR init file has to exist, with a newer modtime than anything in
# the BASEDIR Git repo. This checks for local development work or the user
# switching branches/forks, which should not be overwritten.
# 2. The FINALIZED consistent file has to exist, indicating there's an update
# that completed successfully and synced to disk.
if [ -f "${BASEDIR}/.overlay_init" ]; then
find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
if [ $? -eq 0 ]; then
echo "${BASEDIR} has been modified, skipping overlay update installation"
else
if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
if [ ! -d /data/safe_staging/old_openpilot ]; then
echo "Valid overlay update found, installing"
LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
mv $BASEDIR /data/safe_staging/old_openpilot
mv "${STAGING_ROOT}/finalized" $BASEDIR
cd $BASEDIR
echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
unset AGNOS_VERSION
exec "${LAUNCHER_LOCATION}"
else
echo "openpilot backup found, not updating"
# TODO: restore backup? This means the updater didn't start after swapping
fi
fi
fi
fi
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD:$PWD/pyextra"
# hardware specific init
if [ -f /EON ]; then
two_init
elif [ -f /TICI ]; then
tici_init
fi
# write tmux scrollback to a file
tmux capture-pane -pq -S-1000 > /tmp/launch_log
# start manager
cd selfdrive/manager
./build.py && ./manager.py
# if broken, keep on screen error
while true; do sleep 1; done
}
launch