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launch_chffrplus.sh
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launch_chffrplus.sh
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#!/usr/bin/bash
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function two_init {
# Restrict Android and other system processes to the first two cores
echo 0-1 > /dev/cpuset/background/cpus
echo 0-1 > /dev/cpuset/system-background/cpus
echo 0-1 > /dev/cpuset/foreground/cpus
echo 0-1 > /dev/cpuset/foreground/boost/cpus
echo 0-1 > /dev/cpuset/android/cpus
# openpilot gets all the cores
echo 0-3 > /dev/cpuset/app/cpus
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
# USB traffic needs realtime handling on cpu 3
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
# Check for NEOS update
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
fi
if [ ! -f "$BASEDIR/prebuilt" ]; then
# Clean old build products, but preserve the scons cache
cd $DIR
scons --clean
git clean -xdf
git submodule foreach --recursive git clean -xdf
fi
"$DIR/installer/updater/updater" "file:https://$DIR/installer/updater/update.json"
fi
# One-time fix for a subset of OP3T with gyro orientation offsets.
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
# Performed exactly once. The old registry is preserved just-in-case, and
# doubles as a flag denoting we've already done the reset.
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
echo "Performing OP3T sensor registry reset"
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
sleep 5 # Give Android sensor subsystem a moment to recover
fi
}
function launch {
# Wifi scan
wpa_cli IFNAME=wlan0 SCAN
# Remove orphaned git lock if it exists on boot
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
# Check to see if there's a valid overlay-based update available. Conditions
# are as follows:
#
# 1. The BASEDIR init file has to exist, with a newer modtime than anything in
# the BASEDIR Git repo. This checks for local development work or the user
# switching branches/forks, which should not be overwritten.
# 2. The FINALIZED consistent file has to exist, indicating there's an update
# that completed successfully and synced to disk.
if [ -f "${BASEDIR}/.overlay_init" ]; then
find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
if [ $? -eq 0 ]; then
echo "${BASEDIR} has been modified, skipping overlay update installation"
else
if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
if [ ! -d /data/safe_staging/old_openpilot ]; then
echo "Valid overlay update found, installing"
LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
mv $BASEDIR /data/safe_staging/old_openpilot
mv "${STAGING_ROOT}/finalized" $BASEDIR
cd $BASEDIR
# Partial mitigation for symlink-related filesystem corruption
# Ensure all files match the repo versions after update
git reset --hard
git submodule foreach --recursive git reset --hard
echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
exec "${LAUNCHER_LOCATION}"
else
echo "openpilot backup found, not updating"
# TODO: restore backup? This means the updater didn't start after swapping
fi
fi
fi
fi
# comma two init
if [ -f /EON ]; then
two_init
fi
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"
# write tmux scrollback to a file
tmux capture-pane -pq -S-1000 > /tmp/launch_log
# start manager
cd selfdrive
./manager.py
# if broken, keep on screen error
while true; do sleep 1; done
}
launch