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101 lines
2.9 KiB
101 lines
2.9 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" $BASEDIR
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# The mv changed our working directory to /data/safe_staging/old_openpilot
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cd "${BASEDIR}"
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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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# no cpu rationing for now
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echo 0-3 > /dev/cpuset/background/cpus
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echo 0-3 > /dev/cpuset/system-background/cpus
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echo 0-3 > /dev/cpuset/foreground/boost/cpus
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echo 0-3 > /dev/cpuset/foreground/cpus
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echo 0-3 > /dev/cpuset/android/cpus
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# change interrupt affinity
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echo 3 > /proc/irq/6/smp_affinity_list # MDSS
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echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
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echo 2 > /proc/irq/733/smp_affinity_list # USB
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echo 2 > /proc/irq/736/smp_affinity_list # USB
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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 "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
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fi
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"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
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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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