Simplify passive mode handling (#30593)
* simplify passive handling
* makes more sense
old-commit-hash: 5ccff25d88
chrysler-long2
Adeeb Shihadeh
1 year ago
committed by
GitHub
parent
1cc4f1a634
commit
4be789d40a
8 changed files with 100 additions and 98 deletions
@ -1,88 +1,15 @@ |
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#!/usr/bin/bash |
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if [ -z "$BASEDIR" ]; then |
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BASEDIR="/data/openpilot" |
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fi |
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# TODO: this can be removed after 0.9.6 release |
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source "$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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# 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 $DIR/.git/index.lock |
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# Pull time from panda |
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$DIR/selfdrive/boardd/set_time.py |
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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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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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agnos_init |
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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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# migrate continue.sh and relaunch |
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cat << EOF > /data/continue.sh |
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#!/usr/bin/bash |
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# start manager |
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cd selfdrive/manager |
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./build.py && ./manager.py |
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export PASSIVE=1 |
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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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cd /data/openpilot |
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exec ./launch_openpilot.sh |
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EOF |
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launch |
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/data/continue.sh |
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@ -1,5 +1,88 @@ |
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#!/usr/bin/bash |
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export PASSIVE="0" |
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exec ./launch_chffrplus.sh |
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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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|
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# set success flag for current boot slot |
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sudo abctl --set_success |
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|
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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 $MANIFEST |
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fi |
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} |
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|
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function launch { |
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# Remove orphaned git lock if it exists on boot |
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[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock |
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|
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# Pull time from panda |
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$DIR/selfdrive/boardd/set_time.py |
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|
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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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|
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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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|
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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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|
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# hardware specific init |
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agnos_init |
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|
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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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|
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# start manager |
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cd selfdrive/manager |
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./build.py && ./manager.py |
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|
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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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@ -1,4 +1,6 @@ |
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#!/usr/bin/bash |
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export PASSIVE=1 |
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cd /data/openpilot |
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exec ./launch_chffrplus.sh |
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exec ./launch_openpilot.sh |
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