You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
396 lines
12 KiB
396 lines
12 KiB
#!/usr/bin/env bash
|
|
|
|
if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then
|
|
echo "Invalid invocation! This script must not be sourced."
|
|
echo "Run 'op.sh' directly or check your .bashrc for a valid alias"
|
|
return 0
|
|
fi
|
|
|
|
set -e
|
|
|
|
RED='\033[0;31m'
|
|
GREEN='\033[0;32m'
|
|
UNDERLINE='\033[4m'
|
|
BOLD='\033[1m'
|
|
NC='\033[0m'
|
|
|
|
SHELL_NAME="$(basename ${SHELL})"
|
|
RC_FILE="${HOME}/.$(basename ${SHELL})rc"
|
|
if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
|
|
RC_FILE="$HOME/.bash_profile"
|
|
fi
|
|
function op_install() {
|
|
echo "Installing op system-wide..."
|
|
CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
|
|
grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
|
|
echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
|
|
}
|
|
|
|
function loge() {
|
|
if [[ -f "$LOG_FILE" ]]; then
|
|
# error type
|
|
echo "$1" >> $LOG_FILE
|
|
# error log
|
|
echo "$2" >> $LOG_FILE
|
|
fi
|
|
}
|
|
|
|
function op_run_command() {
|
|
CMD="$@"
|
|
|
|
echo -e "${BOLD}Running command →${NC} $CMD │"
|
|
for ((i=0; i<$((19 + ${#CMD})); i++)); do
|
|
echo -n "─"
|
|
done
|
|
echo -e "┘\n"
|
|
|
|
if [[ -z "$DRY" ]]; then
|
|
eval "$CMD"
|
|
fi
|
|
}
|
|
|
|
# be default, assume openpilot dir is in current directory
|
|
OPENPILOT_ROOT=$(pwd)
|
|
function op_get_openpilot_dir() {
|
|
while [[ "$OPENPILOT_ROOT" != '/' ]];
|
|
do
|
|
if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
|
|
return 0
|
|
fi
|
|
OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
|
|
done
|
|
}
|
|
|
|
function op_install_post_commit() {
|
|
op_get_openpilot_dir
|
|
if [[ ! -d $OPENPILOT_ROOT/.git/hooks/post-commit.d ]]; then
|
|
mkdir $OPENPILOT_ROOT/.git/hooks/post-commit.d
|
|
mv $OPENPILOT_ROOT/.git/hooks/post-commit $OPENPILOT_ROOT/.git/hooks/post-commit.d 2>/dev/null || true
|
|
fi
|
|
cd $OPENPILOT_ROOT/.git/hooks
|
|
ln -sf ../../scripts/post-commit post-commit
|
|
}
|
|
|
|
function op_check_openpilot_dir() {
|
|
echo "Checking for openpilot directory..."
|
|
if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
|
|
echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
|
|
return 0
|
|
fi
|
|
|
|
echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
|
|
echo " inside the openpilot directory or specify one with the"
|
|
echo " --dir option!"
|
|
return 1
|
|
}
|
|
|
|
function op_check_git() {
|
|
echo "Checking for git..."
|
|
if ! command -v "git" > /dev/null 2>&1; then
|
|
echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
|
|
return 1
|
|
else
|
|
echo -e " ↳ [${GREEN}✔${NC}] git found."
|
|
fi
|
|
|
|
echo "Checking for git lfs files..."
|
|
if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
|
|
echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
|
|
else
|
|
echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
|
|
return 1
|
|
fi
|
|
|
|
echo "Checking for git submodules..."
|
|
for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do
|
|
if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
|
|
echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
|
|
return 1
|
|
fi
|
|
done
|
|
echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
|
|
}
|
|
|
|
function op_check_os() {
|
|
echo "Checking for compatible os version..."
|
|
if [[ "$OSTYPE" == "linux-gnu"* ]]; then
|
|
|
|
if [ -f "/etc/os-release" ]; then
|
|
source /etc/os-release
|
|
case "$VERSION_CODENAME" in
|
|
"jammy" | "kinetic" | "noble" | "focal")
|
|
echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
|
|
;;
|
|
* )
|
|
echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
|
|
loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
|
|
return 1
|
|
;;
|
|
esac
|
|
else
|
|
echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
|
|
loge "ERROR_UNKNOWN_UBUNTU"
|
|
return 1
|
|
fi
|
|
|
|
elif [[ "$OSTYPE" == "darwin"* ]]; then
|
|
echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
|
|
else
|
|
echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
|
|
loge "ERROR_UNKNOWN_OS" "$OSTYPE"
|
|
return 1
|
|
fi
|
|
}
|
|
|
|
function op_check_python() {
|
|
echo "Checking for compatible python version..."
|
|
REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
|
|
INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
|
|
|
|
if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
|
|
echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
|
|
loge "ERROR_PYTHON_NOT_FOUND"
|
|
return 1
|
|
else
|
|
LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
|
|
UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
|
|
VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
|
|
if [[ $VERSION -ge LB && $VERSION -le UB ]]; then
|
|
echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
|
|
else
|
|
echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
|
|
loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
|
|
return 1
|
|
fi
|
|
fi
|
|
}
|
|
|
|
function op_check_venv() {
|
|
echo "Checking for venv..."
|
|
if [[ -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
|
|
echo -e " ↳ [${GREEN}✔${NC}] venv detected."
|
|
else
|
|
echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
|
|
fi
|
|
}
|
|
|
|
function op_before_cmd() {
|
|
if [[ ! -z "$NO_VERIFY" ]]; then
|
|
return 0
|
|
fi
|
|
|
|
op_get_openpilot_dir
|
|
cd $OPENPILOT_ROOT
|
|
|
|
result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
|
|
result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
|
|
result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
|
|
result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
|
|
|
|
op_activate_venv
|
|
|
|
result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
|
|
|
|
if [[ -z $VERBOSE ]]; then
|
|
echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
|
|
else
|
|
echo -e "$result"
|
|
fi
|
|
}
|
|
|
|
function op_setup() {
|
|
op_get_openpilot_dir
|
|
cd $OPENPILOT_ROOT
|
|
|
|
op_check_openpilot_dir
|
|
op_check_os
|
|
|
|
echo "Installing dependencies..."
|
|
st="$(date +%s)"
|
|
if [[ "$OSTYPE" == "linux-gnu"* ]]; then
|
|
SETUP_SCRIPT="tools/ubuntu_setup.sh"
|
|
elif [[ "$OSTYPE" == "darwin"* ]]; then
|
|
SETUP_SCRIPT="tools/mac_setup.sh"
|
|
fi
|
|
if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
|
|
echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
|
|
loge "ERROR_DEPENDENCIES_INSTALLATION"
|
|
return 1
|
|
fi
|
|
et="$(date +%s)"
|
|
echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
|
|
|
|
echo "Getting git submodules..."
|
|
st="$(date +%s)"
|
|
if ! git submodule update --filter=blob:none --jobs 4 --init --recursive; then
|
|
echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
|
|
loge "ERROR_GIT_SUBMODULES"
|
|
return 1
|
|
fi
|
|
et="$(date +%s)"
|
|
echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
|
|
|
|
echo "Pulling git lfs files..."
|
|
st="$(date +%s)"
|
|
if ! git lfs pull; then
|
|
echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
|
|
loge "ERROR_GIT_LFS"
|
|
return 1
|
|
fi
|
|
et="$(date +%s)"
|
|
echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds."
|
|
|
|
op_check
|
|
}
|
|
|
|
function op_activate_venv() {
|
|
# bash 3.2 can't handle this without the 'set +e'
|
|
set +e
|
|
source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
|
|
set -e
|
|
}
|
|
|
|
function op_venv() {
|
|
op_before_cmd
|
|
|
|
if [[ ! -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
|
|
echo -e "No venv found in $OPENPILOT_ROOT"
|
|
return 1
|
|
fi
|
|
|
|
case $SHELL_NAME in
|
|
"zsh")
|
|
ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh')
|
|
echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate" >> $ZSHRC_DIR/.zshrc
|
|
ZDOTDIR=$ZSHRC_DIR zsh ;;
|
|
*)
|
|
bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") ;;
|
|
esac
|
|
}
|
|
|
|
function op_check() {
|
|
VERBOSE=1
|
|
op_before_cmd
|
|
unset VERBOSE
|
|
}
|
|
|
|
function op_build() {
|
|
CDIR=$(pwd)
|
|
op_before_cmd
|
|
cd "$CDIR"
|
|
op_run_command scons $@
|
|
}
|
|
|
|
function op_juggle() {
|
|
op_before_cmd
|
|
op_run_command tools/plotjuggler/juggle.py $@
|
|
}
|
|
|
|
function op_lint() {
|
|
op_before_cmd
|
|
op_run_command scripts/lint/lint.sh $@
|
|
}
|
|
|
|
function op_test() {
|
|
op_before_cmd
|
|
op_run_command pytest $@
|
|
}
|
|
|
|
function op_replay() {
|
|
op_before_cmd
|
|
op_run_command tools/replay/replay $@
|
|
}
|
|
|
|
function op_cabana() {
|
|
op_before_cmd
|
|
op_run_command tools/cabana/cabana $@
|
|
}
|
|
|
|
function op_sim() {
|
|
op_before_cmd
|
|
op_run_command exec tools/sim/run_bridge.py &
|
|
op_run_command exec tools/sim/launch_openpilot.sh
|
|
}
|
|
|
|
function op_default() {
|
|
echo "An openpilot helper"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Description:${NC}"
|
|
echo " op is your entry point for all things related to openpilot development."
|
|
echo " op is only a wrapper for existing scripts, tools, and commands."
|
|
echo " op will always show you what it will run on your system."
|
|
echo ""
|
|
echo " op will try to find your openpilot directory in the following order:"
|
|
echo " 1: use the directory specified with the --dir option"
|
|
echo " 2: use the current working directory"
|
|
echo " 3: go up the file tree non-recursively"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
|
|
echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot"
|
|
echo -e " ${BOLD}venv${NC} Activate the python virtual environment"
|
|
echo -e " ${BOLD}setup${NC} Install openpilot dependencies"
|
|
echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory"
|
|
echo -e " ${BOLD}install${NC} Install the 'op' tool system wide"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
|
|
echo -e " ${BOLD}juggle${NC} Run PlotJuggler"
|
|
echo -e " ${BOLD}replay${NC} Run Replay"
|
|
echo -e " ${BOLD}cabana${NC} Run Cabana"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
|
|
echo -e " ${BOLD}sim${NC} Run openpilot in a simulator"
|
|
echo -e " ${BOLD}lint${NC} Run the linter"
|
|
echo -e " ${BOLD}post-commit${NC} Install the linter as a post-commit hook"
|
|
echo -e " ${BOLD}test${NC} Run all unit tests from pytest"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Options:${NC}"
|
|
echo -e " ${BOLD}-d, --dir${NC}"
|
|
echo " Specify the openpilot directory you want to use"
|
|
echo -e " ${BOLD}--dry${NC}"
|
|
echo " Don't actually run anything, just print what would be run"
|
|
echo -e " ${BOLD}-n, --no-verify${NC}"
|
|
echo " Skip environment check before running commands"
|
|
echo ""
|
|
echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
|
|
echo " op setup"
|
|
echo " Run the setup script to install"
|
|
echo " openpilot's dependencies."
|
|
echo ""
|
|
echo " op build -j4"
|
|
echo " Compile openpilot using 4 cores"
|
|
echo ""
|
|
echo " op juggle --demo"
|
|
echo " Run PlotJuggler on the demo route"
|
|
}
|
|
|
|
|
|
function _op() {
|
|
# parse Options
|
|
case $1 in
|
|
-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
|
|
--dry ) shift 1; DRY="1" ;;
|
|
-n | --no-verify ) shift 1; NO_VERIFY="1" ;;
|
|
-l | --log ) shift 1; LOG_FILE="$1" ; shift 1 ;;
|
|
esac
|
|
|
|
# parse Commands
|
|
case $1 in
|
|
venv ) shift 1; op_venv "$@" ;;
|
|
check ) shift 1; op_check "$@" ;;
|
|
setup ) shift 1; op_setup "$@" ;;
|
|
build ) shift 1; op_build "$@" ;;
|
|
juggle ) shift 1; op_juggle "$@" ;;
|
|
cabana ) shift 1; op_cabana "$@" ;;
|
|
lint ) shift 1; op_lint "$@" ;;
|
|
test ) shift 1; op_test "$@" ;;
|
|
replay ) shift 1; op_replay "$@" ;;
|
|
sim ) shift 1; op_sim "$@" ;;
|
|
install ) shift 1; op_install "$@" ;;
|
|
post-commit ) shift 1; op_install_post_commit "$@" ;;
|
|
* ) op_default "$@" ;;
|
|
esac
|
|
}
|
|
|
|
_op $@
|
|
|