Simplify passive mode handling (#30593)

* simplify passive handling

* makes more sense

launch_chffrplus.sh

@@ -1,88 +1,15 @@
 #!/usr/bin/bash
 
-if [ -z "$BASEDIR" ]; then
+# TODO: this can be removed after 0.9.6 release
-  BASEDIR="/data/openpilot"
-fi
 
-source "$BASEDIR/launch_env.sh"
+# migrate continue.sh and relaunch
-
+cat << EOF > /data/continue.sh
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+#!/usr/bin/bash
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # Check if AGNOS update is required
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Pull time from panda
-  $DIR/selfdrive/boardd/set_time.py
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
-  #    the BASEDIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${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
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${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
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # hardware specific init
-  agnos_init
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
-  # start manager
+export PASSIVE=1
-  cd selfdrive/manager
-  ./build.py && ./manager.py
 
-  # if broken, keep on screen error
+cd /data/openpilot
-  while true; do sleep 1; done
+exec ./launch_openpilot.sh
-}
+EOF
 
-launch
+/data/continue.sh

launch_env.sh

@@ -10,8 +10,4 @@ if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="8.2"
 fi
 
-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
-fi
-
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,5 +1,88 @@
 #!/usr/bin/bash
 
-export PASSIVE="0"
+if [ -z "$BASEDIR" ]; then
-exec ./launch_chffrplus.sh
+  BASEDIR="/data/openpilot"
+fi
 
+source "$BASEDIR/launch_env.sh"
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # Check if AGNOS update is required
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
+  #    the BASEDIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${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
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${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
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  agnos_init
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd selfdrive/manager
+  ./build.py && ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch

selfdrive/manager/manager.py

@@ -60,13 +60,9 @@ def manager_init() -> None:
     if params.get(k) is None:
       params.put(k, v)
 
-  # is this dashcam?
+  # is this a dashcam build?
-  if os.getenv("PASSIVE") is not None:
   params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0"))))
 
-  if params.get("Passive") is None:
-    raise Exception("Passive must be set to continue")
-
   # Create folders needed for msgq
   try:
     os.mkdir("/dev/shm")

selfdrive/manager/test/test_manager.py

@@ -21,7 +21,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 @pytest.mark.tici
 class TestManager(unittest.TestCase):
   def setUp(self):
-    os.environ['PASSIVE'] = '0'
     HARDWARE.set_power_save(False)
 
     # ensure clean CarParams

selfdrive/test/helpers.py

@@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  os.environ['PASSIVE'] = "0"
   os.environ['REPLAY'] = "1"
   os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
   os.environ['LOGPRINT'] = "debug"

selfdrive/ui/installer/continue_dashcam.sh

@@ -1,4 +1,6 @@
 #!/usr/bin/bash
 
+export PASSIVE=1
+
 cd /data/openpilot
-exec ./launch_chffrplus.sh
+exec ./launch_openpilot.sh

tools/webcam/README.md

@@ -38,7 +38,7 @@ USE_WEBCAM=1 scons -j$(nproc)
 ## GO
 ```
 cd ~/openpilot/selfdrive/manager
-PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py
+NOSENSOR=1 USE_WEBCAM=1 ./manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
 - Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)