@ -6,7 +6,7 @@ UNDERLINE='\033[4m'
BOLD = '\033[1m' BOLD = '\033[1m'
NC = '\033[0m' NC = '\033[0m'
function op_first_ install( ) { function op_install( ) {
( set -e ( set -e
echo "Installing op system-wide..." echo "Installing op system-wide..."
@ -30,16 +30,22 @@ function op_run_command() {
# be default, assume openpilot dir is in current directory # be default, assume openpilot dir is in current directory
OPENPILOT_ROOT = $( pwd ) OPENPILOT_ROOT = $( pwd )
function op_check_openpilot_dir( ) { function op_get_openpilot_dir( ) {
echo "Checking for openpilot directory..."
while [ [ " $OPENPILOT_ROOT " != '/' ] ] ; while [ [ " $OPENPILOT_ROOT " != '/' ] ] ;
do do
if find " $OPENPILOT_ROOT /launch_openpilot.sh " -maxdepth 1 -mindepth 1 & > /dev/null; then if find " $OPENPILOT_ROOT /launch_openpilot.sh " -maxdepth 1 -mindepth 1 & > /dev/null; then
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] openpilot found.\n "
return 0 return 0
fi fi
OPENPILOT_ROOT = " $( readlink -f " $OPENPILOT_ROOT / " ..) " OPENPILOT_ROOT = " $( readlink -f " $OPENPILOT_ROOT / " ..) "
done done
}
function op_check_openpilot_dir( ) {
echo "Checking for openpilot directory..."
if [ [ -f " $OPENPILOT_ROOT /launch_openpilot.sh " ] ] ; then
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] openpilot found.\n "
return 0
fi
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] openpilot directory not found! Make sure that you are " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] openpilot directory not found! Make sure that you are "
echo " inside the openpilot directory or specify one with the" echo " inside the openpilot directory or specify one with the"
@ -52,28 +58,28 @@ function op_check_git() {
echo "Checking for git..." echo "Checking for git..."
if ! command -v "git" > /dev/null 2>& 1; then if ! command -v "git" > /dev/null 2>& 1; then
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git not found on your system!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git not found on your system! "
return 1 return 1
else else
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git found.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git found. "
fi fi
echo "Checking for git lfs files..." echo "Checking for git lfs files..."
if [ [ $( file -b $OPENPILOT_ROOT /selfdrive/modeld/models/supercombo.onnx) = = "ASCII text" ] ] ; then if [ [ $( file -b $OPENPILOT_ROOT /selfdrive/modeld/models/supercombo.onnx) = = "data" ] ] ; then
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git lfs files not found! Run 'git lfs pull'\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git lfs files found. "
return 1
else else
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git lfs files found.\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git lfs files not found! Run 'git lfs pull' "
return 1
fi fi
echo "Checking for git submodules..." echo "Checking for git submodules..."
for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
if [ [ -z $( ls $OPENPILOT_ROOT /$name ) ] ] ; then if [ [ -z $( ls $OPENPILOT_ROOT /$name ) ] ] ; then
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git submodule $name not found! Run 'git submodule update --init --recursive'\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] git submodule $name not found! Run 'git submodule update --init --recursive' "
return 1 return 1
fi fi
done done
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git submodules found.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] git submodules found. "
) )
} }
@ -88,22 +94,22 @@ function op_check_os() {
source /etc/os-release source /etc/os-release
case " $VERSION_CODENAME " in case " $VERSION_CODENAME " in
"jammy" | "kinetic" | "noble" | "focal" ) "jammy" | "kinetic" | "noble" | "focal" )
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] Ubuntu $VERSION_CODENAME detected.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] Ubuntu $VERSION_CODENAME detected. "
; ; ; ;
* ) * )
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] Incompatible Ubuntu version $VERSION_CODENAME detected!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] Incompatible Ubuntu version $VERSION_CODENAME detected! "
return 1 return 1
; ; ; ;
esac esac
else else
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar! "
return 1 return 1
fi fi
elif [ [ " $OSTYPE " = = "darwin" * ] ] ; then elif [ [ " $OSTYPE " = = "darwin" * ] ] ; then
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] macos detected.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] macos detected.\n "
else else
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] OS type $OSTYPE not supported!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] OS type $OSTYPE not supported! "
return 1 return 1
fi fi
@ -118,12 +124,12 @@ function op_check_python() {
INSTALLED_PYTHON_VERSION = $( python3 --version 2> /dev/null || true ) INSTALLED_PYTHON_VERSION = $( python3 --version 2> /dev/null || true )
if [ [ -z $INSTALLED_PYTHON_VERSION ] ] ; then if [ [ -z $INSTALLED_PYTHON_VERSION ] ] ; then
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] python3 not found on your system. You need python version at least $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]' ) to continue!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] python3 not found on your system. You need python version at least $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]' ) to continue! "
return 1 return 1
elif [ [ $( echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]' ) -ge $(( $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]' ) * 10 )) ] ] ; then elif [ [ $( echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]' ) -ge $(( $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]' ) * 10 )) ] ] ; then
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] $INSTALLED_PYTHON_VERSION detected.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] $INSTALLED_PYTHON_VERSION detected. "
else else
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] You need python version at least $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]' ) to continue!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] You need python version at least $( echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]' ) to continue! "
return 1 return 1
fi fi
@ -133,9 +139,9 @@ function op_check_python() {
function op_check_venv( ) { function op_check_venv( ) {
echo "Checking for venv..." echo "Checking for venv..."
if source $OPENPILOT_ROOT /.venv/bin/activate; then if source $OPENPILOT_ROOT /.venv/bin/activate; then
echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] venv detected.\n " echo -e " ↳ [ ${ GREEN } ✔ ${ NC } ] venv detected. "
else else
echo -e " ↳ [ ${ RED } ✗ ${ NC } ] Can't activate venv in $OPENPILOT_ROOT . Assuming global env!\n " echo -e " ↳ [ ${ RED } ✗ ${ NC } ] Can't activate venv in $OPENPILOT_ROOT . Assuming global env! "
fi fi
} }
@ -144,20 +150,32 @@ function op_before_cmd() {
return 0 return 0
fi fi
op_check _openpilot_dir op_get _openpilot_dir
cd $OPENPILOT_ROOT cd $OPENPILOT_ROOT
op_check_git
op_check_os result = " $(( op_check_openpilot_dir ) 2 >& 1 ) " || (echo -e " $result " && return 1)
op_check_venv result = " ${ result } \n $(( op_check_git ) 2 >& 1 ) " || (echo -e " $result " && return 1)
op_check_python result = " ${ result } \n $(( op_check_os ) 2 >& 1 ) " || (echo -e " $result " && return 1)
echo -e "-----------------------------\n" 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 " Checking system → [ ${ GREEN } ✔ ${ NC } ] system is good. "
else
echo -e " $result "
fi
} }
function op_install( ) { function op_setup ( ) {
( set -e ( set -e
op_check_openpilot_dir op_get _openpilot_dir
cd $OPENPILOT_ROOT cd $OPENPILOT_ROOT
op_check_openpilot_dir
op_check_os op_check_os
op_check_python op_check_python
@ -182,6 +200,10 @@ function op_install() {
) )
} }
function op_activate_venv( ) {
source $OPENPILOT_ROOT /.venv/bin/activate & > /dev/null || true
}
function op_venv( ) { function op_venv( ) {
( set -e ( set -e
@ -191,7 +213,7 @@ function op_venv() {
if [ [ " $? " -eq 0 ] ] ; then if [ [ " $? " -eq 0 ] ] ; then
# this must be run in the same shell as the user calling "op" # this must be run in the same shell as the user calling "op"
op_check_openpilot_dir > /dev/null op_get_openpilot_dir
op_run_command source $OPENPILOT_ROOT /.venv/bin/activate op_run_command source $OPENPILOT_ROOT /.venv/bin/activate
fi fi
} }
@ -199,16 +221,9 @@ function op_venv() {
function op_check( ) { function op_check( ) {
( set -e ( set -e
VERBOSE = 1
op_before_cmd op_before_cmd
unset VERBOSE
)
}
function op_run( ) {
( set -e
op_before_cmd
op_run_command $OPENPILOT_ROOT /launch_openpilot.sh $@
) )
} }
@ -226,12 +241,12 @@ function op_juggle() {
( set -e ( set -e
op_before_cmd op_before_cmd
op_run_command $OPENPILOT_ROOT /$@ op_run_command tools/plotjuggler/juggle.py $@
) )
} }
function op_linter ( ) { function op_lint( ) {
( set -e ( set -e
op_before_cmd op_before_cmd
@ -244,7 +259,7 @@ function op_replay() {
( set -e ( set -e
op_before_cmd op_before_cmd
op_run_command $OPENPILOT_ROOT /$@ op_run_command tools/replay/replay $@
) )
} }
@ -253,7 +268,7 @@ function op_cabana() {
( set -e ( set -e
op_before_cmd op_before_cmd
op_run_command $OPENPILOT_ROOT /$@ op_run_command tools/cabana/cabana $@
) )
} }
@ -262,8 +277,8 @@ function op_sim() {
( set -e ( set -e
op_before_cmd op_before_cmd
op_run_command exec $OPENPILOT_ROOT /& op_run_command exec tools/sim/run_bridge.py &
op_run_command exec $OPENPILOT_ROOT / op_run_command exec tools/sim/launch_openpilot.sh
) )
} }
@ -273,7 +288,7 @@ function op_default() {
echo "" echo ""
echo -e " ${ BOLD } ${ UNDERLINE } Description: ${ NC } " echo -e " ${ BOLD } ${ UNDERLINE } Description: ${ NC } "
echo " op is your entry point for all things related to openpilot development." echo " op is your entry point for all things related to openpilot development."
echo " op is only a wrapper for scripts, tools and commands already existing ." 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 " op will always show you what it will run on your system."
echo "" echo ""
echo " op will try to find your openpilot directory in the following order:" echo " op will try to find your openpilot directory in the following order:"
@ -284,26 +299,27 @@ function op_default() {
echo -e " ${ BOLD } ${ UNDERLINE } Usage: ${ NC } op [OPTIONS] <COMMAND> " echo -e " ${ BOLD } ${ UNDERLINE } Usage: ${ NC } op [OPTIONS] <COMMAND> "
echo "" echo ""
echo -e " ${ BOLD } ${ UNDERLINE } Commands: ${ NC } " echo -e " ${ BOLD } ${ UNDERLINE } Commands: ${ NC } "
echo -e " ${ BOLD } venv ${ NC } Activate the virtual environment " echo -e " ${ BOLD } venv ${ NC } Activate the Python virtual environment "
echo -e " ${ BOLD } check ${ NC } Check system requirements (git, os, python) to start using openpilot " echo -e " ${ BOLD } check ${ NC } Check the development environment (git, os, python) to start using openpilot "
echo -e " ${ BOLD } install ${ NC } Install requirements to use openpilot " echo -e " ${ BOLD } setup ${ NC } Install openpilot dependencies "
echo -e " ${ BOLD } build ${ NC } Build openpilot " echo -e " ${ BOLD } build ${ NC } Build openpilot "
echo -e " ${ BOLD } run ${ NC } Run openpilot "
echo -e " ${ BOLD } sim ${ NC } Run openpilot in a simulator " echo -e " ${ BOLD } sim ${ NC } Run openpilot in a simulator "
echo -e " ${ BOLD } juggle ${ NC } Run Plotjuggler " echo -e " ${ BOLD } juggle ${ NC } Run Plotjuggler "
echo -e " ${ BOLD } replay ${ NC } Run replay " echo -e " ${ BOLD } replay ${ NC } Run replay "
echo -e " ${ BOLD } cabana ${ NC } Run cabana " echo -e " ${ BOLD } cabana ${ NC } Run cabana "
echo -e " ${ BOLD } linter ${ NC } Run all the pre-commit checks " echo -e " ${ BOLD } lint ${ NC } Run all the pre-commit checks "
echo -e " ${ BOLD } help ${ NC } Show this message " echo -e " ${ BOLD } help ${ NC } Show this message "
echo -e " ${ BOLD } -- install${ NC } Install this tool system wide " echo -e " ${ BOLD } install ${ NC } Install the 'op' tool system wide "
echo "" echo ""
echo -e " ${ BOLD } ${ UNDERLINE } Options: ${ NC } " echo -e " ${ BOLD } ${ UNDERLINE } Options: ${ NC } "
echo -e " ${ BOLD } -d, --dir ${ NC } " echo -e " ${ BOLD } -d, --dir ${ NC } "
echo " Specify the openpilot directory you want to use" echo " Specify the openpilot directory you want to use"
echo -e " ${ BOLD } --dry ${ NC } " echo -e " ${ BOLD } --dry ${ NC } "
echo " Don't actually run anything, just print what would be" echo " Don't actually run anything, just print what would be run "
echo -e " ${ BOLD } -n, --no-verify ${ NC } " echo -e " ${ BOLD } -n, --no-verify ${ NC } "
echo " Don't run checks before running a command" echo " Skip environment check before running commands"
echo -e " ${ BOLD } -v, --verbose ${ NC } "
echo " Show the result of all checks before running a command"
echo "" echo ""
echo -e " ${ BOLD } ${ UNDERLINE } Examples: ${ NC } " echo -e " ${ BOLD } ${ UNDERLINE } Examples: ${ NC } "
echo " op --dir /tmp/openpilot check" echo " op --dir /tmp/openpilot check"
@ -325,21 +341,21 @@ function _op() {
-d | --dir ) shift 1; OPENPILOT_ROOT = " $1 " ; shift 1 ; ; -d | --dir ) shift 1; OPENPILOT_ROOT = " $1 " ; shift 1 ; ;
--dry ) shift 1; DRY = "1" ; ; --dry ) shift 1; DRY = "1" ; ;
-n | --no-verify ) shift 1; NO_VERIFY = "1" ; ; -n | --no-verify ) shift 1; NO_VERIFY = "1" ; ;
-v | --verbose ) shift 1; VERBOSE = "1" ; ;
esac esac
# parse Commands # parse Commands
case $1 in case $1 in
venv ) shift 1; op_venv " $@ " ; ; venv ) shift 1; op_venv " $@ " ; ;
check ) shift 1; op_check " $@ " ; ; check ) shift 1; op_check " $@ " ; ;
install ) shift 1; op_install " $@ " ; ; setup ) shift 1; op_setup " $@ " ; ;
build ) shift 1; op_build " $@ " ; ; build ) shift 1; op_build " $@ " ; ;
run ) shift 1; op_run " $@ " ; ;
juggle ) shift 1; op_juggle " $@ " ; ; juggle ) shift 1; op_juggle " $@ " ; ;
cabana ) shift 1; op_cabana " $@ " ; ; cabana ) shift 1; op_cabana " $@ " ; ;
linter ) shift 1; op_linter " $@ " ; ; lint ) shift 1; op_lint " $@ " ; ;
replay ) shift 1; op_replay " $@ " ; ; replay ) shift 1; op_replay " $@ " ; ;
sim ) shift 1; op_sim " $@ " ; ; sim ) shift 1; op_sim " $@ " ; ;
-- install ) shift 1; op_first _install " $@ " ; ; install ) shift 1; op_install " $@ " ; ;
* ) op_default " $@ " ; ; * ) op_default " $@ " ; ;
esac esac
} }
@ -349,24 +365,31 @@ _op $@
# remove from env # remove from env
unset -f _opunset -f _op
unset -f op_checkunset -f op_check
unset -f op_install unset -f op_setup
unset -f op_buildunset -f op_build
unset -f op_run
unset -f op_juggleunset -f op_juggle
unset -f op_venvunset -f op_venv
unset -f op_check_openpilot_dirunset -f op_check_openpilot_dir
unset -f op_check_gitunset -f op_check_git
unset -f op_check_pythonunset -f op_check_python
unset -f op_check_osunset -f op_check_os
unset -f op_first_ installunset -f op_install
unset -f op_defaultunset -f op_default
unset -f op_run_commandunset -f op_run_command
unset -f op_linter unset -f op_lint
unset -f op_replayunset -f op_replay
unset -f op_cabanaunset -f op_cabana
unset -f op_check_venvunset -f op_check_venv
unset -f op_before_cmdunset -f op_before_cmd
unset -f op_simunset -f op_sim
unset -f op_activate_venv
unset -f op_get_openpilot_dir
unset DRYunset DRY
unset NC
unset RED
unset GREEN
unset UNDERLINE
unset BOLD
unset OPENPILOT_ROOTunset OPENPILOT_ROOT
unset NO_VERIFYunset NO_VERIFY
unset VERBOSE
Shane Smiskol
12 months ago