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IQ.Pilot Release Commit @ f2a861c

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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118
launch_chffrplus.sh
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@@ -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:
@@ -128,31 +167,49 @@ function launch {
fi
fi
# 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
# 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 "$DIR/artifacts/runtime/env_sync.sh"
sync_python_env || return 1
if [ ! -f "$DIR/prebuilt" ] && [ ! -x "$DIR/.venv/bin/python3" ]; then
return 1
fi
export PATH="$DIR/.venv/bin:$PATH"
RUNTIME_COMPAT_ROOT="$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 "$service_dropin"
printf '[Service]\nWorkingDirectory=%s\nEnvironment="IQPILOT_SOURCE_ROOT=%s/iqpilot"\nEnvironment="IQPILOT_PROPRIETARY_ROOT=%s/artifacts"\nEnvironment="PYTHONPATH=%s"\nExecStart=\n%s\n' "$RUNTIME_COMPAT_ROOT" "$DIR" "$DIR" "$PYTHONPATH" "$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 /
@@ -161,10 +218,12 @@ function launch {
sudo mount -o remount,ro /
fi
sudo systemctl enable "${service_name}.service"
# --no-block: these units ExecStartPre-wait for the verified runtime. Blocking here
# made a missing runner stall the whole install for the unit's 600s timeout (x3 units).
if systemctl is-active --quiet "${service_name}.service"; then
sudo systemctl restart "${service_name}.service"
sudo systemctl restart --no-block "${service_name}.service"
else
sudo systemctl start "${service_name}.service"
sudo systemctl start --no-block "${service_name}.service"
fi
elif [ -f "$service_src" ]; then
if [ ! -f "$service_dst" ] || ! cmp -s "$service_src" "$service_dst"; then
@@ -173,9 +232,9 @@ function launch {
sudo systemctl daemon-reload
sudo systemctl enable "${service_name}.service"
sudo mount -o remount,ro /
sudo systemctl restart "${service_name}.service"
sudo systemctl restart --no-block "${service_name}.service"
elif ! systemctl is-active --quiet "${service_name}.service"; then
sudo systemctl start "${service_name}.service"
sudo systemctl start --no-block "${service_name}.service"
fi
fi
done
@@ -187,7 +246,7 @@ 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 "$DIR/artifacts/runtime/apply_boot_branding.py" ]; then
@@ -195,22 +254,29 @@ function launch {
fi
# /home is an ephemeral overlay (resets each boot); re-inject the source line. best-effort
if [ -f "$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)"
MANAGER_PYTHON="$DIR/.venv/bin/python3"
if [ ! -f $DIR/prebuilt ]; then
if pkill -f /tmp/installer 2>/dev/null; then sleep 1; fi
/usr/local/venv/bin/python3 ./build.py
"$MANAGER_PYTHON" ./build.py
for service_name in hephaestusd ble-transportd flockd; do
sudo systemctl restart --no-block "${service_name}.service"
done
else
MANAGER_PYTHON="/usr/local/venv/bin/python3"
fi
/usr/local/venv/bin/python3 ./manager.py
"$MANAGER_PYTHON" ./manager.py
# if broken, keep on screen error
while true; do sleep 1; done