IQ.Pilot Release Commit @ 0798119

iqpilot/system/hardware/c3/launch_chffrplus.sh

@@ -0,0 +1,165 @@
+#!/usr/bin/env bash
+
+IQ_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$IQ_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$IQ_C3_DIR/launch_env.sh"
+
+function agnos_version_allowed {
+  local current_version="$1"
+  local expected_version="$2"
+  local compat_version
+
+  if [ "$current_version" = "$expected_version" ] || [[ "$current_version" = "$expected_version"-* ]]; then
+    return 0
+  fi
+
+  IFS=',' read -r -a compat_versions <<< "${AGNOS_COMPAT_VERSIONS:-}"
+  for compat_version in "${compat_versions[@]}"; do
+    compat_version="${compat_version// /}"
+    if [ -n "$compat_version" ] && [ "$current_version" = "$compat_version" ]; then
+      return 0
+    fi
+  done
+
+  return 1
+}
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+  # iptables-nft fails on this kernel (no nf_tables module), breaking NM hotspot NAT rules
+  if [ "$(readlink /etc/alternatives/iptables)" != "/usr/sbin/iptables-legacy" ]; then
+    sudo mount -o remount,rw /
+    sudo ln -sf /usr/sbin/iptables-legacy /etc/alternatives/iptables
+    sudo ln -sf /usr/sbin/iptables-legacy-restore /etc/alternatives/iptables-restore
+    sudo ln -sf /usr/sbin/iptables-legacy-save /etc/alternatives/iptables-save
+    sudo mount -o remount,ro /
+  fi
+
+
+  CURRENT_AGNOS_VERSION=$(< /VERSION)
+  if ! agnos_version_allowed "$CURRENT_AGNOS_VERSION" "$AGNOS_VERSION"; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$IQ_C3_DIR/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 $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} 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 $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          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
+
+  # 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
+
+  ln -sfn $(pwd) /data/pythonpath
+  export IQPILOT_SOURCE_ROOT="${IQPILOT_SOURCE_ROOT:-$PWD/openpilot}"
+  export PYTHONPATH="$PWD"
+
+  # 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"
+    service_dst="/etc/systemd/system/${service_name}.service"
+    service_lib="/lib/systemd/system/${service_name}.service"
+    if [ -f "$service_lib" ] && grep -q "/usr/libexec/iqpilot/iqpilot_bundle_runner" "$service_lib"; then
+      if [ -f "$service_dst" ]; then
+        sudo mount -o remount,rw /
+        sudo rm -f "$service_dst"
+        sudo systemctl daemon-reload
+        sudo mount -o remount,ro /
+      fi
+      sudo systemctl enable "${service_name}.service"
+      if systemctl is-active --quiet "${service_name}.service"; then
+        sudo systemctl restart "${service_name}.service"
+      else
+        sudo systemctl start "${service_name}.service"
+      fi
+    elif [ -f "$service_src" ]; then
+      if [ ! -f "$service_dst" ] || ! cmp -s "$service_src" "$service_dst"; then
+        sudo mount -o remount,rw /
+        sudo cp "$service_src" "$service_dst"
+        sudo systemctl daemon-reload
+        sudo systemctl enable "${service_name}.service"
+        sudo mount -o remount,ro /
+        sudo systemctl restart "${service_name}.service"
+      elif ! systemctl is-active --quiet "${service_name}.service"; then
+        sudo systemctl start "${service_name}.service"
+      fi
+    fi
+  done
+
+  # 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 $DIR/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