131 lines
4.7 KiB
Bash
Executable File
131 lines
4.7 KiB
Bash
Executable File
#!/usr/bin/bash
|
|
|
|
export OMP_NUM_THREADS=1
|
|
export MKL_NUM_THREADS=1
|
|
export NUMEXPR_NUM_THREADS=1
|
|
export OPENBLAS_NUM_THREADS=1
|
|
export VECLIB_MAXIMUM_THREADS=1
|
|
|
|
if [ -z "$BASEDIR" ]; then
|
|
BASEDIR="/data/openpilot"
|
|
fi
|
|
|
|
if [ -z "$PASSIVE" ]; then
|
|
export PASSIVE="1"
|
|
fi
|
|
|
|
STAGING_ROOT="/data/safe_staging"
|
|
|
|
function launch {
|
|
# Wifi scan
|
|
wpa_cli IFNAME=wlan0 SCAN
|
|
|
|
# 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
|
|
|
|
# Partial mitigation for symlink-related filesystem corruption
|
|
# Ensure all files match the repo versions after update
|
|
git reset --hard
|
|
git submodule foreach --recursive git reset --hard
|
|
|
|
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
|
exec "${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
|
|
|
|
# Android and other system processes are not permitted to run on CPU 3
|
|
# NEOS installed app processes can run anywhere
|
|
echo 0-2 > /dev/cpuset/background/cpus
|
|
echo 0-2 > /dev/cpuset/system-background/cpus
|
|
[ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus # Not present in < NEOS 15
|
|
echo 0-2 > /dev/cpuset/foreground/cpus
|
|
echo 0-2 > /dev/cpuset/android/cpus
|
|
echo 0-3 > /dev/cpuset/app/cpus
|
|
|
|
# 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)
|
|
# USB traffic needs realtime handling on cpu 3
|
|
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
|
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
|
|
|
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
|
|
|
# Remove old NEOS update file
|
|
# TODO: move this code to the updater
|
|
if [ -d /data/neoupdate ]; then
|
|
rm -rf /data/neoupdate
|
|
fi
|
|
|
|
# Check for NEOS update
|
|
if [ $(< /VERSION) != "14" ]; then
|
|
if [ -f "$DIR/scripts/continue.sh" ]; then
|
|
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
|
fi
|
|
|
|
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
|
echo "Clearing build products and resetting scons state prior to NEOS update"
|
|
cd $BASEDIR && scons --clean
|
|
rm -rf /tmp/scons_cache
|
|
rm -r $BASEDIR/.sconsign.dblite
|
|
fi
|
|
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
|
else
|
|
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
|
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
|
fi
|
|
fi
|
|
|
|
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
|
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
|
# Performed exactly once. The old registry is preserved just-in-case, and
|
|
# doubles as a flag denoting we've already done the reset.
|
|
# TODO: we should really grow per-platform detect and setup routines
|
|
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
|
echo "Performing OP3T sensor registry reset"
|
|
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
|
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
|
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
|
sleep 5 # Give Android sensor subsystem a moment to recover
|
|
fi
|
|
|
|
# handle pythonpath
|
|
ln -sfn $(pwd) /data/pythonpath
|
|
export PYTHONPATH="$PWD"
|
|
|
|
# start manager
|
|
cd selfdrive
|
|
./manager.py
|
|
|
|
# if broken, keep on screen error
|
|
while true; do sleep 1; done
|
|
}
|
|
|
|
launch
|