#!/usr/bin/bash

# Kill other instances of this script, launch chain, and all managed processes
for pid in $(pgrep -f 'launch_openpilot.sh' | grep -v $$); do
  kill -9 "$pid" 2>/dev/null
done
for pid in $(pgrep -f 'launch_chffrplus.sh' | grep -v $$); do
  kill -9 "$pid" 2>/dev/null
done
pkill -9 -f 'python.*manager.py' 2>/dev/null
# Kill all processes started by the manager (run as comma user, in openpilot tree)
pkill -9 -f 'selfdrive\.' 2>/dev/null
pkill -9 -f 'system\.' 2>/dev/null
pkill -9 -f './ui' 2>/dev/null
pkill -9 -f 'selfdrive/ui/text' 2>/dev/null
sleep 1

bash /data/openpilot/system/clearpilot/on_start.sh

# CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'

# CLEARPILOT: pass --bench flag through to manager via env var
if [ "$1" = "--bench" ]; then
  export BENCH_MODE=1
fi

cd /data/openpilot
exec ./launch_chffrplus.sh