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#!/usr/bin/bash
export OMP_NUM_THREADS=1
export MKL_NUM_THREADS=1
export NUMEXPR_NUM_THREADS=1
export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
if [ -z "$PASSIVE" ]; then
export PASSIVE="1"
fi
STAGING_ROOT="/data/safe_staging"
function launch {
# Wifi scan
wpa_cli IFNAME=wlan0 SCAN
# 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" $BASEDIR
# The mv changed our working directory to /data/safe_staging/old_openpilot
cd "${BASEDIR}"
echo "Restarting launch script ${LAUNCHER_LOCATION}"
exec "${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
# no cpu rationing for now
echo 0-3 > /dev/cpuset/background/cpus
echo 0-3 > /dev/cpuset/system-background/cpus
echo 0-3 > /dev/cpuset/foreground/boost/cpus
echo 0-3 > /dev/cpuset/foreground/cpus
echo 0-3 > /dev/cpuset/android/cpus
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
# Remove old NEOS update file
# TODO: move this code to the updater
if [ -d /data/neoupdate ]; then
rm -rf /data/neoupdate
fi
# Check for NEOS update
if [ $(< /VERSION) != "14" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
fi
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
fi
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"
# start manager
cd selfdrive
./manager.py
# if broken, keep on screen error
while true; do sleep 1; done
}
launch
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