openpilot_comma/launch_chffrplus.sh

#!/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 tici_init {
  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'
}

function two_init {
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

  # *** shield cores 2-3 ***

  # 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

  # *** 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 # USB for LeEco
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T

  # 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

  # Check for NEOS update
  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; 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
      # Clean old build products, but preserve the scons cache
      cd $DIR
      scons --clean
      git clean -xdf
      git submodule foreach --recursive git clean -xdf
    fi

    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  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.
  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
}

function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

  # 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 ${LAUNCHER_LOCATION}"
          unset REQUIRED_NEOS_VERSION
          exec "${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

  # comma two init
  if [ -f /EON ]; then
    two_init
  elif [ -f /TICI ]; then
    tici_init
  fi

  # handle pythonpath
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
  cd selfdrive
  ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
}

launch