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.
96 lines
2.7 KiB
96 lines
2.7 KiB
6 years ago
|
#!/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" $BASEDIR
|
||
|
|
|
||
|
|
# The mv changed our working directory to /data/safe_staging/old_openpilot
|
||
|
|
cd "${BASEDIR}"
|
||
|
|
|
||
|
|
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
|
||
|
|
|
||
|
|
# no cpu rationing for now
|
||
|
|
echo 0-3 > /dev/cpuset/background/cpus
|
||
|
|
echo 0-3 > /dev/cpuset/system-background/cpus
|
||
|
|
echo 0-3 > /dev/cpuset/foreground/boost/cpus
|
||
|
|
echo 0-3 > /dev/cpuset/foreground/cpus
|
||
|
|
echo 0-3 > /dev/cpuset/android/cpus
|
||
|
|
|
||
|
|
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 "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||
|
|
fi
|
||
|
|
|
||
|
|
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||
|
|
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
|