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130 lines
4.7 KiB
130 lines
4.7 KiB
#!/usr/bin/bash
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export OMP_NUM_THREADS=1
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export MKL_NUM_THREADS=1
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export NUMEXPR_NUM_THREADS=1
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export OPENBLAS_NUM_THREADS=1
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export VECLIB_MAXIMUM_THREADS=1
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if [ -z "$BASEDIR" ]; then
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BASEDIR="/data/openpilot"
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fi
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if [ -z "$PASSIVE" ]; then
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export PASSIVE="1"
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fi
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STAGING_ROOT="/data/safe_staging"
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function launch {
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# Wifi scan
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wpa_cli IFNAME=wlan0 SCAN
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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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# Partial mitigation for symlink-related filesystem corruption
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# Ensure all files match the repo versions after update
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git reset --hard
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git submodule foreach --recursive git reset --hard
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echo "Restarting launch script ${LAUNCHER_LOCATION}"
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exec "${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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# Android and other system processes are not permitted to run on CPU 3
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# NEOS installed app processes can run anywhere
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echo 0-2 > /dev/cpuset/background/cpus
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echo 0-2 > /dev/cpuset/system-background/cpus
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[ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus # Not present in < NEOS 15
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echo 0-2 > /dev/cpuset/foreground/cpus
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echo 0-2 > /dev/cpuset/android/cpus
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echo 0-3 > /dev/cpuset/app/cpus
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# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
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echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
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echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
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echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
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# USB traffic needs realtime handling on cpu 3
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[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
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[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
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# Remove old NEOS update file
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# TODO: move this code to the updater
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if [ -d /data/neoupdate ]; then
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rm -rf /data/neoupdate
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fi
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# Check for NEOS update
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if [ $(< /VERSION) != "14" ]; then
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if [ -f "$DIR/scripts/continue.sh" ]; then
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cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
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fi
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if [ ! -f "$BASEDIR/prebuilt" ]; then
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echo "Clearing build products and resetting scons state prior to NEOS update"
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cd $BASEDIR && scons --clean
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rm -rf /tmp/scons_cache
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rm -r $BASEDIR/.sconsign.dblite
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fi
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"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
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else
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if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
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"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
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fi
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fi
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# One-time fix for a subset of OP3T with gyro orientation offsets.
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# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
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# Performed exactly once. The old registry is preserved just-in-case, and
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# doubles as a flag denoting we've already done the reset.
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# TODO: we should really grow per-platform detect and setup routines
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if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
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echo "Performing OP3T sensor registry reset"
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mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
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rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
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echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
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sleep 5 # Give Android sensor subsystem a moment to recover
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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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# start manager
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cd selfdrive
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./manager.py
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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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