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391 lines
12 KiB
391 lines
12 KiB
#!/usr/bin/env bash
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if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then
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echo "Invalid invocation! This script must not be sourced."
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echo "Run 'op.sh' directly or check your .bashrc for a valid alias"
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return 0
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fi
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set -e
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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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SHELL_NAME="$(basename ${SHELL})"
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RC_FILE="${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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function op_install() {
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echo "Installing op system-wide..."
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CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
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grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
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echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
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}
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function loge() {
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if [[ -f "$LOG_FILE" ]]; then
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# error type
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echo "$1" >> $LOG_FILE
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# error log
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echo "$2" >> $LOG_FILE
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fi
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}
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function op_run_command() {
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CMD="$@"
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echo -e "${BOLD}Running command →${NC} $CMD │"
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for ((i=0; i<$((19 + ${#CMD})); i++)); do
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echo -n "─"
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done
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echo -e "┘\n"
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if [[ -z "$DRY" ]]; then
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eval "$CMD"
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fi
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}
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# be default, assume openpilot dir is in current directory
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OPENPILOT_ROOT=$(pwd)
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function op_get_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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}
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function op_install_post_commit() {
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op_get_openpilot_dir
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if [[ ! -d $OPENPILOT_ROOT/.git/hooks/post-commit.d ]]; then
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mkdir $OPENPILOT_ROOT/.git/hooks/post-commit.d
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mv $OPENPILOT_ROOT/.git/hooks/post-commit $OPENPILOT_ROOT/.git/hooks/post-commit.d 2>/dev/null || true
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fi
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cd $OPENPILOT_ROOT/.git/hooks
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ln -sf ../../scripts/post-commit post-commit
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}
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function op_check_openpilot_dir() {
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echo "Checking for openpilot directory..."
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if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
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return 0
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fi
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echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
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echo " inside the openpilot directory or specify one with the"
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echo " --dir option!"
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return 1
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}
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function op_check_git() {
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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."
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fi
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echo "Checking for git lfs files..."
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if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
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else
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echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
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return 1
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fi
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echo "Checking for git submodules..."
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for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do
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if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
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echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
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return 1
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fi
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done
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echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
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}
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function op_check_os() {
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echo "Checking for compatible os version..."
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if [[ "$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 $VERSION_CODENAME detected."
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;;
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* )
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echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
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loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
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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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loge "ERROR_UNKNOWN_UBUNTU"
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return 1
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fi
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elif [[ "$OSTYPE" == "darwin"* ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
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else
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echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
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loge "ERROR_UNKNOWN_OS" "$OSTYPE"
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return 1
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fi
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}
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function op_check_python() {
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echo "Checking for compatible python version..."
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REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
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INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
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if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
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echo -e " ↳ [${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!"
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loge "ERROR_PYTHON_NOT_FOUND"
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return 1
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elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
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else
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echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
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loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
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return 1
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fi
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}
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function op_check_venv() {
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echo "Checking for venv..."
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if [[ -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
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echo -e " ↳ [${GREEN}✔${NC}] venv detected."
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else
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echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
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fi
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}
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function op_before_cmd() {
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if [[ ! -z "$NO_VERIFY" ]]; then
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return 0
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fi
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op_get_openpilot_dir
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cd $OPENPILOT_ROOT
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result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
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result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
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op_activate_venv
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result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
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if [[ -z $VERBOSE ]]; then
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echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
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else
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echo -e "$result"
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fi
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}
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function op_setup() {
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op_get_openpilot_dir
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cd $OPENPILOT_ROOT
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op_check_openpilot_dir
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op_check_os
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echo "Installing dependencies..."
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st="$(date +%s)"
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if [[ "$OSTYPE" == "linux-gnu"* ]]; then
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SETUP_SCRIPT="tools/ubuntu_setup.sh"
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elif [[ "$OSTYPE" == "darwin"* ]]; then
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SETUP_SCRIPT="tools/mac_setup.sh"
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fi
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if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
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echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
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loge "ERROR_DEPENDENCIES_INSTALLATION"
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return 1
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fi
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et="$(date +%s)"
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echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
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echo "Getting git submodules..."
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st="$(date +%s)"
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if ! git submodule update --filter=blob:none --jobs 4 --init --recursive; then
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echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
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loge "ERROR_GIT_SUBMODULES"
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return 1
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fi
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et="$(date +%s)"
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echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
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echo "Pulling git lfs files..."
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st="$(date +%s)"
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if ! git lfs pull; then
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echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
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loge "ERROR_GIT_LFS"
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return 1
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fi
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et="$(date +%s)"
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echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds."
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op_check
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}
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function op_activate_venv() {
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# bash 3.2 can't handle this without the 'set +e'
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set +e
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source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
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set -e
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}
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function op_venv() {
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op_before_cmd
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if [[ ! -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
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echo -e "No venv found in $OPENPILOT_ROOT"
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return 1
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fi
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case $SHELL_NAME in
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"zsh")
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ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh')
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echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate" >> $ZSHRC_DIR/.zshrc
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ZDOTDIR=$ZSHRC_DIR zsh ;;
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*)
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bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") ;;
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esac
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}
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function op_check() {
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VERBOSE=1
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op_before_cmd
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unset VERBOSE
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}
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function op_build() {
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CDIR=$(pwd)
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op_before_cmd
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cd "$CDIR"
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op_run_command scons $@
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}
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function op_juggle() {
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op_before_cmd
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op_run_command tools/plotjuggler/juggle.py $@
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}
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function op_lint() {
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op_before_cmd
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op_run_command scripts/lint/lint.sh $@
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}
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function op_test() {
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op_before_cmd
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op_run_command pytest $@
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}
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function op_replay() {
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op_before_cmd
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op_run_command tools/replay/replay $@
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}
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function op_cabana() {
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op_before_cmd
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op_run_command tools/cabana/cabana $@
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}
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function op_sim() {
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op_before_cmd
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op_run_command exec tools/sim/run_bridge.py &
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op_run_command exec tools/sim/launch_openpilot.sh
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}
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function op_default() {
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echo "An openpilot helper"
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echo ""
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echo -e "${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 existing scripts, tools, and commands."
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echo " op will always show you what it will run on your system."
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echo ""
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echo " op will try to find your openpilot directory in the following order:"
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echo " 1: use the directory specified with the --dir option"
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echo " 2: use the current working directory"
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echo " 3: go up the file tree non-recursively"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
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echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot"
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echo -e " ${BOLD}venv${NC} Activate the python virtual environment"
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echo -e " ${BOLD}setup${NC} Install openpilot dependencies"
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echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory"
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echo -e " ${BOLD}install${NC} Install the 'op' tool system wide"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
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echo -e " ${BOLD}juggle${NC} Run PlotJuggler"
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echo -e " ${BOLD}replay${NC} Run Replay"
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echo -e " ${BOLD}cabana${NC} Run Cabana"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
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echo -e " ${BOLD}sim${NC} Run openpilot in a simulator"
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echo -e " ${BOLD}lint${NC} Run the linter"
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echo -e " ${BOLD}post-commit${NC} Install the linter as a post-commit hook"
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echo -e " ${BOLD}test${NC} Run all unit tests from pytest"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Options:${NC}"
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echo -e " ${BOLD}-d, --dir${NC}"
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echo " Specify the openpilot directory you want to use"
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echo -e " ${BOLD}--dry${NC}"
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echo " Don't actually run anything, just print what would be run"
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echo -e " ${BOLD}-n, --no-verify${NC}"
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echo " Skip environment check before running commands"
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echo ""
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echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
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echo " op setup"
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echo " Run the setup script to install"
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echo " openpilot's dependencies."
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echo ""
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echo " op build -j4"
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echo " Compile openpilot using 4 cores"
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echo ""
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echo " op juggle --demo"
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echo " Run PlotJuggler on the demo route"
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}
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function _op() {
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# parse Options
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case $1 in
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-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
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--dry ) shift 1; DRY="1" ;;
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-n | --no-verify ) shift 1; NO_VERIFY="1" ;;
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-l | --log ) shift 1; LOG_FILE="$1" ; shift 1 ;;
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esac
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# parse Commands
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case $1 in
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venv ) shift 1; op_venv "$@" ;;
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check ) shift 1; op_check "$@" ;;
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setup ) shift 1; op_setup "$@" ;;
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build ) shift 1; op_build "$@" ;;
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juggle ) shift 1; op_juggle "$@" ;;
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cabana ) shift 1; op_cabana "$@" ;;
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lint ) shift 1; op_lint "$@" ;;
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test ) shift 1; op_test "$@" ;;
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replay ) shift 1; op_replay "$@" ;;
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sim ) shift 1; op_sim "$@" ;;
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install ) shift 1; op_install "$@" ;;
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post-commit ) shift 1; op_install_post_commit "$@" ;;
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* ) op_default "$@" ;;
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esac
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}
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_op $@
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