Shane Smiskol
11 months ago
commit
63fb36a2cc
18 changed files with 561 additions and 79 deletions
@ -0,0 +1,45 @@ |
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name: jenkins scan |
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on: |
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issue_comment: |
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types: [created, edited] |
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jobs: |
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# TODO: gc old branches in a separate job in this workflow |
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scan-comments: |
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runs-on: ubuntu-latest |
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if: ${{ github.event.issue.pull_request }} |
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steps: |
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- name: Check for trigger phrase |
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id: check_comment |
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uses: actions/github-script@v7 |
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with: |
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script: | |
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const triggerPhrase = "trigger-jenkins"; |
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const comment = context.payload.comment.body; |
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const commenter = context.payload.comment.user.login; |
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const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({ |
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owner: context.repo.owner, |
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repo: context.repo.repo, |
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username: commenter |
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}); |
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const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin'; |
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return (hasWriteAccess && comment.includes(triggerPhrase)); |
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result-encoding: json |
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- name: Checkout repository |
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if: steps.check_comment.outputs.result == 'true' |
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uses: actions/checkout@v4 |
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with: |
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ref: refs/pull/${{ github.event.issue.number }}/head |
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- name: Push to tmp-jenkins branch |
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if: steps.check_comment.outputs.result == 'true' |
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run: | |
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git config --global user.name "github-actions[bot]" |
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git config --global user.email "github-actions[bot]@users.noreply.github.com" |
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git checkout -b tmp-jenkins-${{ github.event.issue.number }} |
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GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} |
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@ -0,0 +1,91 @@ |
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name: "ui preview" |
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on: |
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pull_request_target: |
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types: [assigned, opened, synchronize, reopened, edited] |
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branches: |
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- 'master' |
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paths: |
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- 'selfdrive/ui/**' |
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env: |
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UI_JOB_NAME: "Create UI Report" |
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jobs: |
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preview: |
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if: github.repository == 'commaai/openpilot' |
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name: preview |
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runs-on: ubuntu-latest |
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timeout-minutes: 5 |
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permissions: |
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contents: read |
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pull-requests: write |
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actions: read |
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steps: |
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- name: Waiting for ui test to start |
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run: sleep 30 |
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- name: Wait for ui report |
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uses: lewagon/wait-on-check-action@v1.3.4 |
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with: |
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ref: ${{ github.event.pull_request.head.sha }} |
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check-name: ${{ env.UI_JOB_NAME }} |
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repo-token: ${{ secrets.GITHUB_TOKEN }} |
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allowed-conclusions: success |
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wait-interval: 20 |
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- name: Get workflow run ID |
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id: get_run_id |
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run: | |
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echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT |
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- name: Checkout ci-artifacts |
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uses: actions/checkout@v4 |
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with: |
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repository: commaai/ci-artifacts |
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ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} |
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path: ${{ github.workspace }}/ci-artifacts |
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ref: master |
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- name: Download artifact |
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id: download-artifact |
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uses: dawidd6/action-download-artifact@v6 |
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with: |
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github_token: ${{ secrets.GITHUB_TOKEN }} |
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run_id: ${{ steps.get_run_id.outputs.run_id }} |
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search_artifacts: true |
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name: report-${{ github.event.number }} |
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path: ${{ github.workspace }}/ci-artifacts |
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- name: Push Screenshots |
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working-directory: ${{ github.workspace }}/ci-artifacts |
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run: | |
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git checkout -b openpilot/pr-${{ github.event.number }} |
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git config user.name "GitHub Actions Bot" |
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git config user.email "<>" |
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git add ${{ github.workspace }}/ci-artifacts/* |
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git commit -m "screenshots for PR #${{ github.event.number }}" |
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git push origin openpilot/pr-${{ github.event.number }} --force |
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- name: Comment Screenshots on PR |
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uses: thollander/actions-comment-pull-request@v2 |
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with: |
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message: | |
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<!-- _(run_id_screenshots **${{ github.run_id }}**)_ --> |
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## UI Screenshots |
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<table> |
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<tr> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td> |
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</tr> |
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<tr> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td> |
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</tr> |
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<tr> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td> |
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<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td> |
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</tr> |
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</table> |
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comment_tag: run_id_screenshots |
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pr_number: ${{ github.event.number }} |
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} |
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@ -0,0 +1,56 @@ |
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from cereal import car |
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from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans |
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class TestLongControlStateTransition: |
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def test_stay_stopped(self): |
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CP = car.CarParams.new_message() |
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active = True |
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current_state = LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=True, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=True, cruise_standstill=False) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=False, cruise_standstill=True) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
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should_stop=False, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.pid |
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active = False |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
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should_stop=False, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.off |
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def test_engage(): |
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CP = car.CarParams.new_message() |
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active = True |
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current_state = LongCtrlState.off |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=True, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=True, cruise_standstill=False) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=False, cruise_standstill=True) |
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assert next_state == LongCtrlState.stopping |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.pid |
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def test_starting(): |
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CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5) |
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active = True |
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current_state = LongCtrlState.starting |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
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should_stop=False, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.starting |
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next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
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should_stop=False, brake_pressed=False, cruise_standstill=False) |
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assert next_state == LongCtrlState.pid |
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@ -0,0 +1,313 @@ |
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#!/bin/bash |
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RED='\033[0;31m' |
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GREEN='\033[0;32m' |
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UNDERLINE='\033[4m' |
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BOLD='\033[1m' |
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NC='\033[0m' |
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function op_first_install() { |
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(set -e |
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echo "Installing op system-wide..." |
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RC_FILE="${HOME}/.$(basename ${SHELL})rc" |
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if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then |
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RC_FILE="$HOME/.bash_profile" |
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fi |
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op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE |
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echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" |
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) |
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} |
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# be default, assume openpilot dir is in current directory |
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OPENPILOT_ROOT=$(pwd) |
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function op_check_openpilot_dir() { |
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while [[ "$OPENPILOT_ROOT" != '/' ]]; |
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do |
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if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then |
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return 0 |
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fi |
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OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" |
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done |
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echo "openpilot directory not found! Make sure that you are inside openpilot" |
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echo "directory or specify one with the --dir option!" |
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return 1 |
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} |
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function op_run_command() { |
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CMD="$@" |
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echo -e "${BOLD}Running:${NC} $CMD" |
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if [[ -z "$DRY" ]]; then |
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$CMD |
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fi |
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} |
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function op_check_git() { |
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(set -e |
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cd $OPENPILOT_ROOT |
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echo "Checking for git..." |
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if ! command -v "git" > /dev/null 2>&1; then |
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echo -e " ↳ [${RED}✗${NC}] git not found on your system!" |
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return 1 |
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else |
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echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n" |
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fi |
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echo "Checking for git lfs files..." |
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if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then |
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echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull" |
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return 1 |
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else |
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echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n" |
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fi |
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echo "Checking for git submodules..." |
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if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then |
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echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'" |
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return 1 |
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else |
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echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n" |
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fi |
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) |
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} |
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function op_check_os() { |
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(set -e |
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echo "Checking for compatible os version..." |
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if [[ "$OSTYPE" == "linux-gnu"* ]]; then |
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if [ -f "/etc/os-release" ]; then |
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source /etc/os-release |
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case "$VERSION_CODENAME" in |
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"jammy" | "kinetic" | "noble" | "focal") |
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echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" |
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;; |
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* ) |
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echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!" |
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return 1 |
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;; |
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esac |
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else |
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echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!" |
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return 1 |
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fi |
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|
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elif [[ "$OSTYPE" == "darwin"* ]]; then |
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echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" |
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else |
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echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" |
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return 1 |
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fi |
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|
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) |
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} |
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|
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function op_check_python() { |
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(set -e |
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|
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echo "Checking for compatible python version..." |
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export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ') |
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if ! command -v "python3" > /dev/null 2>&1; then |
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echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!" |
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return 1 |
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else |
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if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then |
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echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n" |
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else |
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echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!" |
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return 1 |
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|
fi |
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fi |
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|
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) |
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} |
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|
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# this must be run in the same shell as the user calling "op" |
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function op_venv() { |
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op_check_openpilot_dir || return 1 |
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op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) |
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} |
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|
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function op_check() { |
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(set -e |
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|
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op_check_openpilot_dir |
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cd $OPENPILOT_ROOT |
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op_check_git |
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op_check_os |
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op_check_python |
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|
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) |
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} |
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|
|
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function op_run() { |
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(set -e |
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|
|
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op_venv |
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cd $OPENPILOT_ROOT |
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|
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op_run_command $OPENPILOT_ROOT/launch_openpilot.sh |
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|
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) |
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} |
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|
|
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|
function op_install() { |
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|
(set -e |
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|
|
||||||
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op_check_openpilot_dir |
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cd $OPENPILOT_ROOT |
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|
|
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op_check_os |
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op_check_python |
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|
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if [[ "$OSTYPE" == "linux-gnu"* ]]; then |
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|
$OPENPILOT_ROOT/tools/ubuntu_setup.sh |
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|
elif [[ "$OSTYPE" == "darwin"* ]]; then |
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|
$OPENPILOT_ROOT/tools/mac_setup.sh |
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|
fi |
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|
|
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|
git submodule update --init --recursive |
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|
git lfs pull |
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|
|
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|
) |
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|
} |
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|
|
||||||
|
function op_build() { |
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|
(set -e |
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|
|
||||||
|
op_venv |
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|
cd $OPENPILOT_ROOT |
||||||
|
|
||||||
|
op_run_command scons $@ |
||||||
|
|
||||||
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) |
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|
} |
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|
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function op_juggle() { |
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|
(set -e |
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|
|
||||||
|
op_venv |
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|
cd $OPENPILOT_ROOT |
||||||
|
|
||||||
|
op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ |
||||||
|
|
||||||
|
) |
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|
} |
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|
|
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function op_linter() { |
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|
(set -e |
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op_venv |
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cd $OPENPILOT_ROOT |
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op_run_command pre-commit run --all $@ |
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) |
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} |
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function op_replay() { |
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|
(set -e |
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op_check_openpilot_dir |
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cd $OPENPILOT_ROOT |
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|
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op_run_command $OPENPILOT_ROOT/tools/replay/replay $@ |
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|
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||||||
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) |
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} |
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|
|
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function op_default() { |
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|
echo "An openpilot helper" |
||||||
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echo "" |
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echo -e "${BOLD}${UNDERLINE}Description:${NC}" |
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|
echo " op is your entry point for all things related to openpilot development." |
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|
echo " op is only a wrapper for scripts, tools and commands already existing." |
||||||
|
echo " op will always show you what it will run on your system." |
||||||
|
echo "" |
||||||
|
echo " op will try to find your openpilot directory in the following order:" |
||||||
|
echo " 1: use the directory specified with the --dir option" |
||||||
|
echo " 2: use the current working directory" |
||||||
|
echo " 3: go up the file tree non-recursively" |
||||||
|
echo "" |
||||||
|
echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>" |
||||||
|
echo "" |
||||||
|
echo -e "${BOLD}${UNDERLINE}Commands:${NC}" |
||||||
|
echo -e " ${BOLD}venv${NC} Activate the virtual environment" |
||||||
|
echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" |
||||||
|
echo -e " ${BOLD}install${NC} Install requirements to use openpilot" |
||||||
|
echo -e " ${BOLD}build${NC} Build openpilot" |
||||||
|
echo -e " ${BOLD}run${NC} Run openpilot" |
||||||
|
echo -e " ${BOLD}juggle${NC} Run Plotjuggler" |
||||||
|
echo -e " ${BOLD}replay${NC} Run replay" |
||||||
|
echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" |
||||||
|
echo -e " ${BOLD}help${NC} Show this message" |
||||||
|
echo -e " ${BOLD}--install${NC} Install this tool system wide" |
||||||
|
echo "" |
||||||
|
echo -e "${BOLD}${UNDERLINE}Options:${NC}" |
||||||
|
echo -e " ${BOLD}-d, --dir${NC}" |
||||||
|
echo " Specify the openpilot directory you want to use" |
||||||
|
echo -e " ${BOLD}--dry${NC}" |
||||||
|
echo " Don't actually run anything, just print what would be" |
||||||
|
echo "" |
||||||
|
echo -e "${BOLD}${UNDERLINE}Examples:${NC}" |
||||||
|
echo " op --dir /tmp/openpilot check" |
||||||
|
echo " Run the check command on openpilot located in /tmp/openpilot" |
||||||
|
echo "" |
||||||
|
echo " op juggle --install" |
||||||
|
echo " Install plotjuggler in the openpilot located in your current" |
||||||
|
echo " working directory" |
||||||
|
echo "" |
||||||
|
echo " op --dir /tmp/openpilot build -j4" |
||||||
|
echo " Run the build command on openpilot located in /tmp/openpilot" |
||||||
|
echo " on 4 cores" |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
function _op() { |
||||||
|
# parse Options |
||||||
|
case $1 in |
||||||
|
-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; |
||||||
|
--dry ) shift 1; DRY="1" ;; |
||||||
|
esac |
||||||
|
|
||||||
|
# parse Commands |
||||||
|
case $1 in |
||||||
|
venv ) shift 1; op_venv "$@" ;; |
||||||
|
check ) shift 1; op_check "$@" ;; |
||||||
|
install ) shift 1; op_install "$@" ;; |
||||||
|
build ) shift 1; op_build "$@" ;; |
||||||
|
run ) shift 1; op_run "$@" ;; |
||||||
|
juggle ) shift 1; op_juggle "$@" ;; |
||||||
|
linter ) shift 1; op_linter "$@" ;; |
||||||
|
replay ) shift 1; op_replay "$@" ;; |
||||||
|
--install ) shift 1; op_first_install "$@" ;; |
||||||
|
* ) op_default "$@" ;; |
||||||
|
esac |
||||||
|
} |
||||||
|
|
||||||
|
_op $@ |
||||||
|
|
||||||
|
# remove from env |
||||||
|
unset -f _op |
||||||
|
unset -f op_check |
||||||
|
unset -f op_install |
||||||
|
unset -f op_build |
||||||
|
unset -f op_run |
||||||
|
unset -f op_juggle |
||||||
|
unset -f op_venv |
||||||
|
unset -f op_check_openpilot_dir |
||||||
|
unset -f op_check_git |
||||||
|
unset -f op_check_python |
||||||
|
unset -f op_check_os |
||||||
|
unset -f op_first_install |
||||||
|
unset -f op_default |
||||||
|
unset -f op_run_command |
||||||
|
unset -f op_linter |
||||||
|
unset -f op_replay |
||||||
|
unset DRY |
||||||
|
unset OPENPILOT_ROOT |
||||||
Loading…
Reference in new issue