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- #!/usr/bin/env bash
- if [ -z "$BASEDIR" ]; then
- BASEDIR="/data/openpilot"
- fi
- source "$BASEDIR/launch_env.sh"
- DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
- function agnos_init {
- # TODO: move this to agnos
- sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
- # set success flag for current boot slot
- sudo abctl --set_success
- # TODO: do this without udev in AGNOS
- # udev does this, but sometimes we startup faster
- sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
- sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
- # Check if AGNOS update is required
- if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
- AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
- MANIFEST="$DIR/system/hardware/tici/agnos.json"
- if $AGNOS_PY --verify $MANIFEST; then
- sudo reboot
- fi
- $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
- fi
- }
- function launch {
- # Remove orphaned git lock if it exists on boot
- [ -f "$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
- echo "Restarting launch script ${LAUNCHER_LOCATION}"
- unset AGNOS_VERSION
- exec "${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
- # handle pythonpath
- ln -sfn $(pwd) /data/pythonpath
- export PYTHONPATH="$PWD"
- # hardware specific init
- if [ -f /AGNOS ]; then
- agnos_init
- fi
- # write tmux scrollback to a file
- tmux capture-pane -pq -S-1000 > /tmp/launch_log
- # start manager
- cd system/manager
- if [ ! -f $DIR/prebuilt ]; then
- ./build.py
- fi
- ./manager.py
- # if broken, keep on screen error
- while true; do sleep 1; done
- }
- launch
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