brianhansonxyz
5624898a92
Restores the boot/launch chain customizations on top of the freshly-reset
baseline. Driving-model and per-feature changes (dashcamd, telemetry, gpsd,
bench mode, manager wiring) are deliberately left out and will be ported
piecemeal.
Brought in:
- launch_openpilot.sh: kill stale instances, run on_start.sh, background
vpn-monitor + nice-monitor, BENCH_MODE pass-through
- launch_chffrplus.sh: source build_preflight.sh, kill stale text-error UI
- build_only.sh, build_preflight.sh
- system/clearpilot/on_start.sh: SSH keys, ssh.service enable, git.hanson.xyz
Host config, WiFi radio on, run provision.sh
- system/clearpilot/provision.sh + provision_wrapper.sh: connectivity wait,
apt install (openvpn, curl, ccrypt, nodejs), Claude Code installer, git
remote fix, fast-forward origin/clearpilot, /data/quick_boot
- system/clearpilot/vpn-monitor.sh + vpn.ovpn: OpenVPN tunnel auto-connect
- system/clearpilot/nice-monitor.sh: keep claude processes at nice 19
- system/clearpilot/dev: id_ed25519.{cpt,pub.cpt}, GithubSshKeys, encrypt.sh
(DongleId-keyed instead of hardware-serial)
- system/clearpilot/tools/{decrypt,encrypt}: switch key source to DongleId
- system/clearpilot/startup_logo/{bg.jpg, generate_logo.sh, set_logo.sh}
- selfdrive/ui/qt/spinner{,.cc,.h}: new spinner with logo
Removed (baseline-only flow superseded by broken's on_start.sh+provision.sh):
- system/clearpilot/dev/on_start.sh
- system/clearpilot/dev/on_start_brian.sh.cpt
- system/clearpilot/dev/provision.sh
103 lines
3.0 KiB
Bash
Executable File
103 lines
3.0 KiB
Bash
Executable File
#!/usr/bin/bash
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if [ -z "$BASEDIR" ]; then
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BASEDIR="/data/openpilot"
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fi
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source "$BASEDIR/launch_env.sh"
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
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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 $DIR/.git/index.lock
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# Check to see if there's a valid overlay-based update available. Conditions
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# are as follows:
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#
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# 1. The BASEDIR init file has to exist, with a newer modtime than anything in
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# the BASEDIR Git repo. This checks for local development work or the user
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# switching branches/forks, which should not be overwritten.
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# 2. The FINALIZED consistent file has to exist, indicating there's an update
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# that completed successfully and synced to disk.
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# CLEARPILOT
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# if [ -f "${BASEDIR}/.overlay_init" ]; then
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# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
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# if [ $? -eq 0 ]; then
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# echo "${BASEDIR} 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 $BASEDIR /data/safe_staging/old_openpilot
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# mv "${STAGING_ROOT}/finalized" $BASEDIR
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# cd $BASEDIR
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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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# CLEARPILOT: kill stale error display from previous build/run
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pkill -f "selfdrive/ui/text" 2>/dev/null
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# write tmux scrollback to a file
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tmux capture-pane -pq -S-1000 > /tmp/launch_log
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# Preflight: create dirs git can't track
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source "$DIR/build_preflight.sh"
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# start manager
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cd selfdrive/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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