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230 lines
7.6 KiB
230 lines
7.6 KiB
#!/usr/bin/bash
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if [ -z "$BASEDIR" ]; then
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BASEDIR="/data/openpilot"
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fi
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source "$BASEDIR/launch_env.sh"
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
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function two_init {
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# Wifi scan
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wpa_cli IFNAME=wlan0 SCAN
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# *** shield cores 2-3 ***
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# android gets two cores
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echo 0-1 > /dev/cpuset/background/cpus
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echo 0-1 > /dev/cpuset/system-background/cpus
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echo 0-1 > /dev/cpuset/foreground/cpus
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echo 0-1 > /dev/cpuset/foreground/boost/cpus
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echo 0-1 > /dev/cpuset/android/cpus
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# openpilot gets all the cores
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echo 0-3 > /dev/cpuset/app/cpus
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# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
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echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
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echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
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# *** set up governors ***
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# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
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echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
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echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
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echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
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# unclear if these help, but they don't seem to hurt
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echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
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echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
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# GPU
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echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
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# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
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# it seems to gain nothing but a wasted 500mW
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# *** set up IRQ affinities ***
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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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echo 1 > /proc/irq/6/smp_affinity_list # MDSS
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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
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# GPU and camera get cpu 2
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CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
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for irq in $CAM_IRQS; do
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echo 2 > /proc/irq/$irq/smp_affinity_list
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done
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echo 2 > /proc/irq/193/smp_affinity_list # GPU
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# give GPU threads RT priority
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for pid in $(pgrep "kgsl"); do
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chrt -f -p 52 $pid
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done
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# the flippening!
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LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
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# disable bluetooth
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service call bluetooth_manager 8
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# Check for NEOS update
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if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; 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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# Clean old build products, but preserve the scons cache
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cd $DIR
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scons --clean
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git clean -xdf
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git submodule foreach --recursive git clean -xdf
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fi
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"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
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fi
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}
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function tici_init {
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sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
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sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
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# set success flag for current boot slot
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sudo abctl --set_success
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# Check if AGNOS update is required
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if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
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# Get number of slot to switch to
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CUR_SLOT=$(abctl --boot_slot)
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if [[ "$CUR_SLOT" == "_a" ]]; then
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OTHER_SLOT="_b"
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OTHER_SLOT_NUMBER="1"
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else
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OTHER_SLOT="_a"
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OTHER_SLOT_NUMBER="0"
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fi
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echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
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# Get expected hashes from manifest
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MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
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SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
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SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
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BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
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BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
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echo "Expected hashes:"
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echo "System: $SYSTEM_HASH_EXPECTED"
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echo "Boot: $BOOT_HASH_EXPECTED"
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# Read hashes from alternate partitions, should already be flashed by updated
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SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
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BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
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echo "Found hashes:"
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echo "System: $SYSTEM_HASH"
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echo "Boot: $BOOT_HASH"
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if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
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echo "Swapping active slot to $OTHER_SLOT_NUMBER"
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# Clean hashes before swapping to prevent looping
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dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
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dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
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sync
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abctl --set_active "$OTHER_SLOT_NUMBER"
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sleep 1
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sudo reboot
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else
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echo "Hash mismatch, downloading agnos"
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if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
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echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
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# Clean hashes before swapping to prevent looping
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dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
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dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
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sync
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abctl --set_active "$OTHER_SLOT_NUMBER"
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fi
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sleep 1
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sudo reboot
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fi
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fi
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}
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function launch {
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# Remove orphaned git lock if it exists on boot
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[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
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# Check to see if there's a valid overlay-based update available. Conditions
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# are as follows:
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#
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# 1. The BASEDIR init file has to exist, with a newer modtime than anything in
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# the BASEDIR Git repo. This checks for local development work or the user
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# switching branches/forks, which should not be overwritten.
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# 2. The FINALIZED consistent file has to exist, indicating there's an update
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# that completed successfully and synced to disk.
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if [ -f "${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 ${LAUNCHER_LOCATION}"
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unset REQUIRED_NEOS_VERSION
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unset AGNOS_VERSION
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exec "${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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# handle pythonpath
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ln -sfn $(pwd) /data/pythonpath
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export PYTHONPATH="$PWD"
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# hardware specific init
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if [ -f /EON ]; then
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two_init
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elif [ -f /TICI ]; then
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tici_init
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fi
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# write tmux scrollback to a file
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tmux capture-pane -pq -S-1000 > /tmp/launch_log
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# start manager
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cd selfdrive/manager
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./build.py && ./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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