IQ.Pilot Release Commit @ bec7652
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -2,7 +2,10 @@
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
export HOME="${HOME:-/home/comma}"
|
||||
export IQPILOT_PROPRIETARY_ROOT="$DIR/artifacts"
|
||||
source "$DIR/launch_env.sh"
|
||||
export PATH="/usr/local/venv/bin:$PATH"
|
||||
|
||||
function agnos_version_allowed {
|
||||
local current_version="$1"
|
||||
@@ -25,7 +28,6 @@ function agnos_version_allowed {
|
||||
}
|
||||
|
||||
function set_lite_hw() {
|
||||
# Detect mr.one C3 Lite: tici platform without a cellular modem at i2c 0x10
|
||||
if grep -q "tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
|
||||
output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
|
||||
if [ -z "$output" ]; then
|
||||
@@ -36,6 +38,38 @@ function set_lite_hw() {
|
||||
fi
|
||||
}
|
||||
|
||||
function install_iq_command() {
|
||||
local rc_file="$HOME/.bashrc"
|
||||
|
||||
[ -w "$HOME" ] || return 0
|
||||
touch "$rc_file" 2>/dev/null || return 0
|
||||
local rc_temp="${rc_file}.iq-tmp.$$"
|
||||
awk '/^# >>> iq command/{skip=1} /^# <<< iq command/{skip=0; next} skip{next}
|
||||
!/^alias op=.*tools\/op\.sh/ && !/^alias iq=.*tools\/iq\.sh/' "$rc_file" > "$rc_temp" || return 0
|
||||
mv "$rc_temp" "$rc_file" || return 0
|
||||
cat >> "$rc_file" <<'IQFN'
|
||||
# >>> iq command (auto-managed, do not edit) >>>
|
||||
unalias iq op 2>/dev/null
|
||||
iq() {
|
||||
local d="$PWD"
|
||||
while [ "$d" != "/" ]; do
|
||||
if [ -x "$d/iqpilot/tools/iq.sh" ] && { [ -f "$d/launch_iqpilot.sh" ] || [ -f "$d/launch_openpilot.sh" ]; }; then
|
||||
"$d/iqpilot/tools/iq.sh" "$@"; return
|
||||
fi
|
||||
d="$(dirname "$d")"
|
||||
done
|
||||
for d in /data/iqpilot /data/openpilot; do
|
||||
if [ -x "$d/iqpilot/tools/iq.sh" ] && { [ -f "$d/launch_iqpilot.sh" ] || [ -f "$d/launch_openpilot.sh" ]; }; then
|
||||
"$d/iqpilot/tools/iq.sh" "$@"; return
|
||||
fi
|
||||
done
|
||||
echo "iq: no IQ.Pilot checkout found (searched up from $PWD, then /data/iqpilot, /data/openpilot)" >&2
|
||||
return 1
|
||||
}
|
||||
# <<< iq command (auto-managed) <<<
|
||||
IQFN
|
||||
}
|
||||
|
||||
function agnos_init {
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
@@ -60,8 +94,8 @@ function agnos_init {
|
||||
# Check if AGNOS update is required
|
||||
CURRENT_AGNOS_VERSION=$(< /VERSION)
|
||||
if ! agnos_version_allowed "$CURRENT_AGNOS_VERSION" "$AGNOS_VERSION"; then
|
||||
AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
|
||||
MANIFEST="$DIR/system/hardware/tici/agnos.json"
|
||||
AGNOS_PY="$DIR/iqpilot/system/hardware/tici/agnos.py"
|
||||
MANIFEST="$DIR/iqpilot/system/hardware/tici/agnos.json"
|
||||
if [ -f /sys/firmware/devicetree/base/model ]; then
|
||||
DEVICE_MODEL="$(tr -d '\0' </sys/firmware/devicetree/base/model)"
|
||||
case "$DEVICE_MODEL" in
|
||||
@@ -69,7 +103,7 @@ function agnos_init {
|
||||
# comma 3 keeps its stock 15.1 bootloaders: comma's 16 abl has a board-id
|
||||
# check that rejects comma 3 ("Unsupported firmware detected"). It still gets
|
||||
# the IQ boot (comma_tici.dtb) + IQ.OS 3.4 system via this hybrid manifest.
|
||||
MANIFEST="$DIR/system/hardware/tici/agnos_tici_15_1.json"
|
||||
MANIFEST="$DIR/iqpilot/system/hardware/tici/agnos_tici_15_1.json"
|
||||
;;
|
||||
esac
|
||||
fi
|
||||
@@ -86,13 +120,18 @@ function agnos_init {
|
||||
sudo reboot
|
||||
fi
|
||||
fi
|
||||
$DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
|
||||
$DIR/iqpilot/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 $DIR/.git/index.lock
|
||||
for server_dir in "$HOME/.cursor-server" "$HOME/.windsurf-server" "$HOME/.vscode-server"; do
|
||||
[ -L "$server_dir" ] && unlink "$server_dir"
|
||||
done
|
||||
|
||||
install_iq_command
|
||||
|
||||
# Check to see if there's a valid overlay-based update available. Conditions
|
||||
# are as follows:
|
||||
@@ -128,41 +167,46 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# Best-effort: install the verified runtime before anything starts the services that
|
||||
# need it. This only succeeds on a tree that has built _verified_import.so, so on a
|
||||
# prebuilt release install it is a no-op -- there the runtime arrives with the IQ.OS
|
||||
# flash, whose image bakes it in. What actually fixes the 20+ minute first-install hang
|
||||
# is --no-block on the service starts below: hephaestusd/ble-transportd/flockd each
|
||||
# ExecStartPre-wait up to 600s for /usr/libexec/iqpilot/iqpilot_bundle_runner.
|
||||
if [ -x "$DIR/system/proprietary_runtime/install_verified_runtime.sh" ]; then
|
||||
"$DIR/system/proprietary_runtime/install_verified_runtime.sh" || true
|
||||
fi
|
||||
# Python env + proprietary runtime sync. Lives in artifacts/runtime/env_sync.sh so updated.py
|
||||
# can run the identical steps at update-apply time (offroad, stack idle); by the
|
||||
# time this runs at boot it is normally a warm no-op. Real work still lands here
|
||||
# for local dev edits or a failed apply-time prep, under the boot spinner as before.
|
||||
source "$DIR/artifacts/runtime/env_sync.sh"
|
||||
sync_python_env || return 1
|
||||
export PATH="$DIR/.venv/bin:$PATH"
|
||||
|
||||
# Install/update proprietary runtime bundles.
|
||||
if [ -f "$DIR/artifacts/runtime/ensure_private_installed.sh" ]; then
|
||||
bash "$DIR/artifacts/runtime/ensure_private_installed.sh" || true
|
||||
elif [ -x "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" ]; then
|
||||
# Backward-compat fallback for older trees.
|
||||
"$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" || true
|
||||
fi
|
||||
RUNTIME_COMPAT_ROOT="$DIR/.iqpilot/runtime_root"
|
||||
mkdir -p "$RUNTIME_COMPAT_ROOT"
|
||||
ln -sfn "$DIR/iqpilot" "$RUNTIME_COMPAT_ROOT/iqpilot"
|
||||
ln -sfn iqpilot "$RUNTIME_COMPAT_ROOT/openpilot"
|
||||
ln -sfn "$DIR/iqpilot/system" "$RUNTIME_COMPAT_ROOT/system"
|
||||
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export IQPILOT_SOURCE_ROOT="${IQPILOT_SOURCE_ROOT:-$PWD/openpilot}"
|
||||
export IQPILOT_SOURCE_ROOT="${IQPILOT_SOURCE_ROOT:-$DIR/iqpilot}"
|
||||
export PYTHONSAFEPATH=1
|
||||
VERIFIED_PYTHON_ROOT="/usr/libexec/iqpilot/python"
|
||||
IQPILOT_PYTHONPATH="$VENV_SITE_PACKAGES:$PWD"
|
||||
if [ -d "$PWD/artifacts/package_runtime" ]; then
|
||||
IQPILOT_PYTHONPATH="$PWD/artifacts/package_runtime:$IQPILOT_PYTHONPATH"
|
||||
fi
|
||||
if [ -d "$VERIFIED_PYTHON_ROOT" ]; then
|
||||
export PYTHONPATH="$VERIFIED_PYTHON_ROOT:$PWD"
|
||||
export PYTHONPATH="$VERIFIED_PYTHON_ROOT:$IQPILOT_PYTHONPATH"
|
||||
else
|
||||
export PYTHONPATH="$PWD"
|
||||
export PYTHONPATH="$IQPILOT_PYTHONPATH"
|
||||
fi
|
||||
|
||||
# Install independent systemd services BEFORE build so they run even
|
||||
# when openpilot fails to compile — SSH/BLE/hephaestusd must always
|
||||
# be reachable for device recovery.
|
||||
for service_name in hephaestusd ble-transportd; do
|
||||
service_src="$DIR/system/${service_name}.service"
|
||||
for service_name in hephaestusd ble-transportd flockd; do
|
||||
service_src="$DIR/iqpilot/system/${service_name}.service"
|
||||
service_dst="/etc/systemd/system/${service_name}.service"
|
||||
service_lib="/lib/systemd/system/${service_name}.service"
|
||||
service_dropin="/run/systemd/system/${service_name}.service.d"
|
||||
service_exec="$(grep '^ExecStart=' "$service_src")"
|
||||
sudo mkdir -p "$service_dropin"
|
||||
printf '[Service]\nWorkingDirectory=%s\nEnvironment="IQPILOT_SOURCE_ROOT=%s/iqpilot"\nEnvironment="IQPILOT_PROPRIETARY_ROOT=%s/artifacts"\nEnvironment="PYTHONPATH=/usr/libexec/iqpilot/python:%s:%s"\nExecStart=\n%s\n' "$RUNTIME_COMPAT_ROOT" "$DIR" "$DIR" "$VENV_SITE_PACKAGES" "$DIR" "$service_exec" | sudo tee "$service_dropin/iqpilot-packages.conf" >/dev/null
|
||||
sudo systemctl daemon-reload
|
||||
if [ -f "$service_lib" ] && grep -q "/usr/libexec/iqpilot/iqpilot_bundle_runner" "$service_lib"; then
|
||||
if [ -f "$service_dst" ]; then
|
||||
sudo mount -o remount,rw /
|
||||
@@ -199,7 +243,7 @@ function launch {
|
||||
if [ -f /AGNOS ]; then
|
||||
agnos_init
|
||||
|
||||
sudo "$DIR/system/hardware/tici/zram_setup.sh" || true
|
||||
sudo "$DIR/iqpilot/system/hardware/tici/zram_setup.sh" || true
|
||||
fi
|
||||
|
||||
if [ -f "$DIR/artifacts/runtime/apply_boot_branding.py" ]; then
|
||||
@@ -207,22 +251,23 @@ function launch {
|
||||
fi
|
||||
|
||||
# /home is an ephemeral overlay (resets each boot); re-inject the source line. best-effort
|
||||
if [ -f "$DIR/tools/iqpilot/git-pretty.sh" ] && [ -w "$HOME/.bashrc" ]; then
|
||||
if [ -f "$DIR/iqpilot/tools/iqpilot/git-pretty.sh" ] && [ -w "$HOME/.bashrc" ]; then
|
||||
grep -q 'iqpilot/git-pretty.sh' "$HOME/.bashrc" 2>/dev/null || \
|
||||
echo "[ -f $DIR/tools/iqpilot/git-pretty.sh ] && source $DIR/tools/iqpilot/git-pretty.sh" >> "$HOME/.bashrc" || true
|
||||
echo "[ -f $DIR/iqpilot/tools/iqpilot/git-pretty.sh ] && source $DIR/iqpilot/tools/iqpilot/git-pretty.sh" >> "$HOME/.bashrc" || true
|
||||
fi
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
# start manager
|
||||
cd system/manager
|
||||
cd "$DIR/iqpilot/system/manager"
|
||||
export PWD="$(pwd)"
|
||||
if [ ! -f $DIR/prebuilt ]; then
|
||||
if pkill -f /tmp/installer 2>/dev/null; then sleep 1; fi
|
||||
/usr/local/venv/bin/python3 ./build.py
|
||||
"$DIR/.venv/bin/python3" ./build.py
|
||||
fi
|
||||
|
||||
/usr/local/venv/bin/python3 ./manager.py
|
||||
"$DIR/.venv/bin/python3" ./manager.py
|
||||
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
|
||||
Reference in New Issue
Block a user