315 lines
14 KiB
Bash
Executable File
315 lines
14 KiB
Bash
Executable File
#!/usr/bin/env bash
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
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export HOME="${HOME:-/home/comma}"
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export IQPILOT_PROPRIETARY_ROOT="$DIR/artifacts"
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source "$DIR/launch_env.sh"
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export PATH="/usr/local/venv/bin:$PATH"
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function agnos_version_allowed {
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local current_version="$1"
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local expected_version="$2"
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local compat_version
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if [ "$current_version" = "$expected_version" ] || [[ "$current_version" = "$expected_version"-* ]]; then
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return 0
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fi
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IFS=',' read -r -a compat_versions <<< "${AGNOS_COMPAT_VERSIONS:-}"
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for compat_version in "${compat_versions[@]}"; do
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compat_version="${compat_version// /}"
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if [ -n "$compat_version" ] && [ "$current_version" = "$compat_version" ]; then
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return 0
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fi
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done
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return 1
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}
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function set_lite_hw() {
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# Detect mr.one C3 Lite: tici platform without a cellular modem at i2c 0x10
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if grep -q "tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
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output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
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if [ -z "$output" ]; then
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echo "C3 Lite hardware detected"
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export LITE=1
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echo "1" > /tmp/lite_hw
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fi
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fi
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}
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function install_iq_command() {
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local rc_file="$HOME/.bashrc"
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local iq_script="$DIR/iqpilot/tools/iq.sh"
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[ -w "$HOME" ] || return 0
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touch "$rc_file" 2>/dev/null || return 0
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local rc_temp="${rc_file}.iq-tmp.$$"
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awk '!/^alias op=.*tools\/op\.sh/ && !/^alias iq=.*tools\/iq\.sh/' "$rc_file" > "$rc_temp" || return 0
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mv "$rc_temp" "$rc_file" || return 0
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printf '\nalias iq='%s'\n' "'${iq_script} \"\$@\"'" >> "$rc_file"
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}
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function agnos_init {
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# TODO: move this to agnos
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sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
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# set success flag for current boot slot
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sudo abctl --set_success
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# TODO: do this without udev in AGNOS
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# udev does this, but sometimes we startup faster
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sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
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sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
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# iptables-nft fails on this kernel (no nf_tables module), breaking NM hotspot NAT rules
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if [ "$(readlink /etc/alternatives/iptables)" != "/usr/sbin/iptables-legacy" ]; then
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sudo mount -o remount,rw /
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sudo ln -sf /usr/sbin/iptables-legacy /etc/alternatives/iptables
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sudo ln -sf /usr/sbin/iptables-legacy-restore /etc/alternatives/iptables-restore
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sudo ln -sf /usr/sbin/iptables-legacy-save /etc/alternatives/iptables-save
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sudo mount -o remount,ro /
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fi
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# Check if AGNOS update is required
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CURRENT_AGNOS_VERSION=$(< /VERSION)
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if ! agnos_version_allowed "$CURRENT_AGNOS_VERSION" "$AGNOS_VERSION"; then
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AGNOS_PY="$DIR/iqpilot/system/hardware/tici/agnos.py"
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MANIFEST="$DIR/iqpilot/system/hardware/tici/agnos.json"
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if [ -f /sys/firmware/devicetree/base/model ]; then
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DEVICE_MODEL="$(tr -d '\0' </sys/firmware/devicetree/base/model)"
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case "$DEVICE_MODEL" in
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*"comma tici"*|*"comma three"*)
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# comma 3 keeps its stock 15.1 bootloaders: comma's 16 abl has a board-id
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# check that rejects comma 3 ("Unsupported firmware detected"). It still gets
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# the IQ boot (comma_tici.dtb) + IQ.OS 3.4 system via this hybrid manifest.
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MANIFEST="$DIR/iqpilot/system/hardware/tici/agnos_tici_15_1.json"
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;;
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esac
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fi
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if $AGNOS_PY --verify $MANIFEST; then
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sudo reboot
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fi
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# On stock AGNOS the updater picks updater_weston (weston is up), a compiled display binary that
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# can't get a compositor surface on a first boot, so the IQ.OS flash silently wedges on the comma
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# logo. There, flash headless via agnos.py --swap (identical download+write+swap, no surface).
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# On IQ.OS weston is down -> the updater picks updater_magic (DRM), which renders the on-screen
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# progress prompt fine, so fall through and keep it. This mirrors the updater's own weston check.
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if systemctl is-active --quiet weston-ready; then
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if $AGNOS_PY --swap $MANIFEST; then
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sudo reboot
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fi
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fi
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$DIR/iqpilot/system/hardware/tici/updater $AGNOS_PY $MANIFEST
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fi
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}
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function launch {
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# Remove orphaned git lock if it exists on boot
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[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
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for server_dir in "$HOME/.cursor-server" "$HOME/.windsurf-server" "$HOME/.vscode-server"; do
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[ -L "$server_dir" ] && unlink "$server_dir"
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done
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install_iq_command
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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 DIR init file has to exist, with a newer modtime than anything in
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# the DIR 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 "${DIR}/.overlay_init" ]; then
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find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
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if [ $? -eq 0 ]; then
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echo "${DIR} 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 $DIR /data/safe_staging/old_openpilot
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mv "${STAGING_ROOT}/finalized" $DIR
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cd $DIR
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echo "Restarting launch script ${LAUNCHER_LOCATION}"
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unset AGNOS_VERSION
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exec "${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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# Best-effort: install the verified runtime before anything starts the services that
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# need it. This only succeeds on a tree that has built _verified_import.so, so on a
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# prebuilt release install it is a no-op -- there the runtime arrives with the IQ.OS
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# flash, whose image bakes it in. What actually fixes the 20+ minute first-install hang
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# is --no-block on the service starts below: hephaestusd/ble-transportd/flockd each
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# ExecStartPre-wait up to 600s for /usr/libexec/iqpilot/iqpilot_bundle_runner.
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if [ -x "$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" ]; then
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"$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" || true
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fi
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# Install/update proprietary runtime bundles.
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if [ -f "$DIR/artifacts/runtime/ensure_private_installed.sh" ]; then
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bash "$DIR/artifacts/runtime/ensure_private_installed.sh" || true
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elif [ -x "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" ]; then
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# Backward-compat fallback for older trees.
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"$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" || true
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fi
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PYTHONPATH="$DIR" /usr/local/venv/bin/python3 -c "from iqpilot.common.git_creds import install_credential_helper; install_credential_helper('$DIR')" 2>/dev/null || true
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PACKAGE_LOCK_SHA="$(sha256sum "$DIR/uv.lock" | awk '{print $1}')"
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INSTALLED_PACKAGE_LOCK_SHA="$(cat "$DIR/.iqpilot-package-lock-sha256" 2>/dev/null || true)"
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BASE_SITE_PACKAGES="$(/usr/local/venv/bin/python3 -c 'import site; print(site.getsitepackages()[0])')"
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PROJECT_RAYLIB="$("$DIR/.venv/bin/python3" -c 'import importlib.metadata; print(importlib.metadata.distribution("raylib").locate_file(""))' 2>/dev/null || true)"
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if [[ "$PROJECT_RAYLIB" = "$DIR/.venv"/* ]]; then
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sudo rm -rf "$DIR/.venv"
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rm -f "$DIR/.iqpilot-package-lock-sha256"
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INSTALLED_PACKAGE_LOCK_SHA=""
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fi
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VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])' 2>/dev/null || true)"
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PACKAGES_READY=0
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if [ -d "$DIR/_vendor_runtime" ] && PYTHONPATH="$DIR/_vendor_runtime" /usr/local/venv/bin/python3 -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null; then
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PACKAGES_READY=1
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elif [ "$PACKAGE_LOCK_SHA" = "$INSTALLED_PACKAGE_LOCK_SHA" ] && "$DIR/.venv/bin/python3" -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null; then
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PACKAGES_READY=1
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fi
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if [ "$PACKAGES_READY" != "1" ]; then
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UV_CACHE_DIR="$DIR/.uv-cache"
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if [ ! -x "$DIR/.venv/bin/python3" ]; then
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UV_CACHE_DIR="$UV_CACHE_DIR" uv venv --python /usr/local/venv/bin/python3 "$DIR/.venv" || return 1
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VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])')"
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fi
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sudo chown -R "$(id -u):$(id -g)" "$DIR/.venv" "$UV_CACHE_DIR" "$DIR/_vendor_sources" 2>/dev/null || true
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IQDBC_PACKAGE_SOURCE=""
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PACKAGE_SOURCES=()
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while IFS=$'\t' read -r package_name package_source; do
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PACKAGE_SOURCES+=("$package_source")
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if [ "$package_name" = "iqdbc" ]; then
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IQDBC_PACKAGE_SOURCE="$package_source"
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fi
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done < <(/usr/local/venv/bin/python3 "$DIR/scripts/iqpilot/runtime_package_sources.py" "$DIR")
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if [ "${#PACKAGE_SOURCES[@]}" = "0" ] || [ -z "$IQDBC_PACKAGE_SOURCE" ]; then
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return 1
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fi
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PACKAGE_BUILD_PYTHONPATH="$BASE_SITE_PACKAGES:$VENV_SITE_PACKAGES"
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UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
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uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "$IQDBC_PACKAGE_SOURCE" || return 1
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UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
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uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "${PACKAGE_SOURCES[@]}" || return 1
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printf '%s\n' "$PACKAGE_LOCK_SHA" > "$DIR/.iqpilot-package-lock-sha256"
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fi
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if [ -n "$VENV_SITE_PACKAGES" ]; then
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printf 'import site; site.addsitedir("%s")\n' "$BASE_SITE_PACKAGES" | sudo tee "$VENV_SITE_PACKAGES/iqpilot-system-venv.pth" >/dev/null
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fi
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export PATH="$DIR/.venv/bin:$PATH"
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RUNTIME_COMPAT_ROOT="$DIR/.iqpilot/runtime_root"
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mkdir -p "$RUNTIME_COMPAT_ROOT"
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ln -sfn "$DIR/iqpilot" "$RUNTIME_COMPAT_ROOT/iqpilot"
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ln -sfn iqpilot "$RUNTIME_COMPAT_ROOT/openpilot"
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ln -sfn "$DIR/iqpilot/system" "$RUNTIME_COMPAT_ROOT/system"
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ln -sfn $(pwd) /data/pythonpath
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export IQPILOT_SOURCE_ROOT="${IQPILOT_SOURCE_ROOT:-$DIR/iqpilot}"
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export PYTHONSAFEPATH=1
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VERIFIED_PYTHON_ROOT="/usr/libexec/iqpilot/python"
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IQPILOT_PYTHONPATH="$VENV_SITE_PACKAGES:$PWD"
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if [ -d "$PWD/_vendor_runtime" ]; then
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IQPILOT_PYTHONPATH="$PWD/_vendor_runtime:$IQPILOT_PYTHONPATH"
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fi
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if [ -d "$VERIFIED_PYTHON_ROOT" ]; then
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export PYTHONPATH="$VERIFIED_PYTHON_ROOT:$IQPILOT_PYTHONPATH"
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else
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export PYTHONPATH="$IQPILOT_PYTHONPATH"
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fi
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# Install independent systemd services BEFORE build so they run even
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# when openpilot fails to compile — SSH/BLE/hephaestusd must always
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# be reachable for device recovery.
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for service_name in hephaestusd ble-transportd flockd; do
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service_src="$DIR/iqpilot/system/${service_name}.service"
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service_dst="/etc/systemd/system/${service_name}.service"
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service_lib="/lib/systemd/system/${service_name}.service"
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service_dropin="/run/systemd/system/${service_name}.service.d"
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service_exec="$(grep '^ExecStart=' "$service_src")"
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sudo mkdir -p "$service_dropin"
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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 "$service_dropin/iqpilot-packages.conf" >/dev/null
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sudo systemctl daemon-reload
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if [ -f "$service_lib" ] && grep -q "/usr/libexec/iqpilot/iqpilot_bundle_runner" "$service_lib"; then
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if [ -f "$service_dst" ]; then
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sudo mount -o remount,rw /
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sudo rm -f "$service_dst"
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sudo systemctl daemon-reload
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sudo mount -o remount,ro /
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fi
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sudo systemctl enable "${service_name}.service"
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# --no-block: these units ExecStartPre-wait for the verified runtime. Blocking here
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# made a missing runner stall the whole install for the unit's 600s timeout (x3 units).
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if systemctl is-active --quiet "${service_name}.service"; then
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sudo systemctl restart --no-block "${service_name}.service"
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else
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sudo systemctl start --no-block "${service_name}.service"
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fi
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elif [ -f "$service_src" ]; then
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if [ ! -f "$service_dst" ] || ! cmp -s "$service_src" "$service_dst"; then
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sudo mount -o remount,rw /
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sudo cp "$service_src" "$service_dst"
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sudo systemctl daemon-reload
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sudo systemctl enable "${service_name}.service"
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sudo mount -o remount,ro /
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sudo systemctl restart --no-block "${service_name}.service"
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elif ! systemctl is-active --quiet "${service_name}.service"; then
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sudo systemctl start --no-block "${service_name}.service"
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fi
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fi
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done
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# detect mr.one C3 Lite hardware
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set_lite_hw
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# hardware specific init
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if [ -f /AGNOS ]; then
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agnos_init
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sudo "$DIR/iqpilot/system/hardware/tici/zram_setup.sh" || true
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fi
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if [ -f "$DIR/artifacts/runtime/apply_boot_branding.py" ]; then
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sudo python3 "$DIR/artifacts/runtime/apply_boot_branding.py" || true
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fi
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# /home is an ephemeral overlay (resets each boot); re-inject the source line. best-effort
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if [ -f "$DIR/iqpilot/tools/iqpilot/git-pretty.sh" ] && [ -w "$HOME/.bashrc" ]; then
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grep -q 'iqpilot/git-pretty.sh' "$HOME/.bashrc" 2>/dev/null || \
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echo "[ -f $DIR/iqpilot/tools/iqpilot/git-pretty.sh ] && source $DIR/iqpilot/tools/iqpilot/git-pretty.sh" >> "$HOME/.bashrc" || true
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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 "$DIR/iqpilot/system/manager"
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export PWD="$(pwd)"
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if [ ! -f $DIR/prebuilt ]; then
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if pkill -f /tmp/installer 2>/dev/null; then sleep 1; fi
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"$DIR/.venv/bin/python3" ./build.py
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fi
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"$DIR/.venv/bin/python3" ./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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