Release 260308

2026-03-08 23:26:57 +08:00
commit 5c73e264e9
2665 changed files with 717560 additions and 0 deletions
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -0,0 +1,480 @@
+#!/usr/bin/bash
+
+if [ -z "$BASEDIR" ]; then
+  BASEDIR="/data/openpilot"
+fi
+
+source "$BASEDIR/launch_env.sh"
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+function two_init {
+  # convert to no ir ctrl param
+  if [ -f /data/media/0/no_ir_ctrl ]; then
+    echo -n 1 > /data/params/d/dp_device_no_ir_ctrl
+  fi
+
+  mount -o remount,rw /system
+  # font installer
+  if [ -f /EON ]; then
+    # 检查字体文件是否存在，只有在缺失时才在后台进行安装
+    if [ ! -f /system/fonts/NotoSansCJKtc-Regular.otf ] || [ ! -f /system/etc/fonts.xml ]; then
+      (
+        rm -fr /system/fonts/NotoSansTC*.otf
+        rm -fr /system/fonts/NotoSansSC*.otf
+        rm -fr /system/fonts/NotoSansKR*.otf
+        rm -fr /system/fonts/NotoSansJP*.otf
+        cp -rf /data/openpilot/selfdrive/assets/fonts/NotoSansCJKtc-* /system/fonts/
+        cp -rf /data/openpilot/selfdrive/assets/fonts/fonts.xml /system/etc/fonts.xml
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/NotoSansCJKtc-*
+      ) &
+    fi
+  fi
+
+  # openpilot ssh key installer
+  if [ ! -f /data/params/d/GithubSshKeys ]; then
+    echo -n openpilot > /data/params/d/GithubUsername
+    cat /system/comma/home/setup_keys > /data/params/d/GithubSshKeys
+    echo -n 1 > /data/params/d/SshEnabled
+    setprop persist.neos.ssh 1
+  fi
+  if [ ! -f /ONEPLUS ] && ! $(grep -q "letv" /proc/cmdline); then
+    sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
+    touch /ONEPLUS
+  else
+    if [ ! -f /LEECO ]; then
+      touch /LEECO
+    fi
+  fi
+  mount -o remount,r /system
+
+  # always update to the latest update.zip
+  if [ -f /ONEPLUS ]; then
+    cp -f "$BASEDIR/system/hardware/eon/update.zip" "/data/media/0/update.zip"
+  fi
+
+  # *** shield cores 2-3 ***
+  # 获取设备运行模式，默认为普通模式
+  device_mode="1"
+  if [ -f /data/params/d/dp_device_mode ]; then
+    mode=$(cat /data/params/d/dp_device_mode)
+    case $mode in
+      "0"|"1"|"2") device_mode=$mode ;;
+      *) device_mode="1" ;;
+    esac
+  fi
+
+  # set IO scheduler
+  case $device_mode in
+    "0") # 节能模式
+      setprop sys.io.scheduler cfq
+      for f in /sys/block/*/queue/scheduler; do
+        if grep -q "cfq" $f; then
+          echo cfq > $f 2>/dev/null || true
+        fi
+      done
+      ;;
+    "2") # 性能模式
+      setprop sys.io.scheduler deadline
+      for f in /sys/block/*/queue/scheduler; do
+        if grep -q "deadline" $f; then
+          echo deadline > $f 2>/dev/null || true
+        fi
+      done
+      ;;
+    *) # 普通模式（默认）
+      setprop sys.io.scheduler noop
+      for f in /sys/block/*/queue/scheduler; do
+        if grep -q "noop" $f; then
+          echo noop > $f 2>/dev/null || true
+        fi
+      done
+      ;;
+  esac
+
+  case $device_mode in
+    "0") # 节能模式
+      # android 使用两个核心
+      echo 0-1 > /dev/cpuset/background/cpus
+      echo 0-1 > /dev/cpuset/system-background/cpus
+      echo 0-1 > /dev/cpuset/foreground/cpus
+      echo 0-1 > /dev/cpuset/foreground/boost/cpus
+      echo 0-1 > /dev/cpuset/android/cpus
+      # openpilot 使用两个核心
+      echo 0-1 > /dev/cpuset/app/cpus
+      ;;
+    "2") # 性能模式
+      # android 使用一个核心
+      echo 0 > /dev/cpuset/background/cpus
+      echo 0 > /dev/cpuset/system-background/cpus
+      echo 0 > /dev/cpuset/foreground/cpus
+      echo 0 > /dev/cpuset/foreground/boost/cpus
+      echo 0 > /dev/cpuset/android/cpus
+      # openpilot 使用全部核心
+      echo 0-3 > /dev/cpuset/app/cpus
+      ;;
+    *) # 普通模式（默认）
+      # android 使用两个核心
+      echo 0-1 > /dev/cpuset/background/cpus
+      echo 0-1 > /dev/cpuset/system-background/cpus
+      echo 0-1 > /dev/cpuset/foreground/cpus
+      echo 0-1 > /dev/cpuset/foreground/boost/cpus
+      echo 0-1 > /dev/cpuset/android/cpus
+      # openpilot 使用三个核心
+      echo 0-3 > /dev/cpuset/app/cpus
+      ;;
+  esac
+
+  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
+  for f in /sys/class/net/*/queues/*/rps_cpus; do
+    [ -f "$f" ] && echo 3 > "$f" 2>/dev/null || true
+  done
+  for f in /sys/class/net/*/queues/*/xps_cpus; do
+    [ -f "$f" ] && echo 3 > "$f" 2>/dev/null || true
+  done
+
+  # *** set up governors ***
+  case $device_mode in
+    "0") # 节能模式
+      for dev in /sys/class/devfreq/soc:qcom,*; do
+        [ -f "$dev/governor" ] && echo "powersave" > "$dev/governor"
+      done
+      if [ -f /ONEPLUS ]; then
+        echo 902400 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+      else
+        echo 768000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+      fi
+      echo "powersave" > /sys/class/devfreq/soc:qcom,m4m/governor
+      echo "powersave" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+      echo "powersave" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+      echo "powersave" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+      ;;
+    "2") # 性能模式
+      for dev in /sys/class/devfreq/soc:qcom,*; do
+        [ -f "$dev/governor" ] && echo "performance" > "$dev/governor"
+      done
+      if [ -f /ONEPLUS ]; then
+        echo 1593600 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+        # 增加CPU频率设置
+        echo 2016000 > /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq
+        echo 2016000 > /sys/devices/system/cpu/cpu1/cpufreq/scaling_max_freq
+      else
+        echo 1190400 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+      fi
+      echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
+      echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+      echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+      echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+      ;;
+    *) # 普通模式（默认）
+      echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
+      for dev in /sys/class/devfreq/soc:qcom,*; do
+        [ -f "$dev/governor" ] && echo "performance" > "$dev/governor"
+      done
+      if [ -f /ONEPLUS ]; then
+        echo 1363200 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+      else
+        echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+      fi
+      echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
+      echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+      echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+      echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+      ;;
+  esac
+
+  # *** set up governors ***
+  case $device_mode in
+    "0") # 节能模式
+      # 降低内存压力
+      echo 60 > /proc/sys/vm/swappiness
+      echo 1000 > /proc/sys/vm/vfs_cache_pressure
+      ;;
+    "2") # 性能模式
+      # 优化内存使用
+      echo 0 > /proc/sys/vm/swappiness
+      echo 50 > /proc/sys/vm/vfs_cache_pressure
+      ;;
+    *) # 普通模式（默认）
+      # 平衡内存设置
+      echo 30 > /proc/sys/vm/swappiness
+      echo 100 > /proc/sys/vm/vfs_cache_pressure
+      ;;
+  esac
+
+  # 温控设置
+  case $device_mode in
+    "0") # 节能模式
+      # 限制最大 CPU 频率
+      echo 1401600 > /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq
+      echo 1401600 > /sys/devices/system/cpu/cpu1/cpufreq/scaling_max_freq
+      # 设置温控阈值
+      for zone in /sys/class/thermal/thermal_zone*; do
+        if [ -f "$zone/trip_point_0_temp" ]; then
+          echo 85000 > "$zone/trip_point_0_temp" 2>/dev/null || true
+        fi
+      done
+      ;;
+    "2") # 性能模式
+      # 提高最大 CPU 频率
+      echo 2016000 > /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq
+      echo 2016000 > /sys/devices/system/cpu/cpu1/cpufreq/scaling_max_freq
+      # 设置温控阈值
+      for zone in /sys/class/thermal/thermal_zone*; do
+        if [ -f "$zone/trip_point_0_temp" ]; then
+          echo 85000 > "$zone/trip_point_0_temp" 2>/dev/null || true
+        fi
+      done
+      ;;
+    *) # 普通模式（默认）
+      # 默认 CPU 频率
+      echo 1804800 > /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq
+      echo 1804800 > /sys/devices/system/cpu/cpu1/cpufreq/scaling_max_freq
+      # 设置温控阈值
+      for zone in /sys/class/thermal/thermal_zone*; do
+        if [ -f "$zone/trip_point_0_temp" ]; then
+          echo 85000 > "$zone/trip_point_0_temp" 2>/dev/null || true
+        fi
+      done
+      ;;
+  esac
+
+  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
+  # it seems to gain nothing but a wasted 500mW
+
+  # *** set up IRQ affinities ***
+
+  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
+  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
+  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
+  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
+  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
+
+  # USB traffic needs realtime handling on cpu 3
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
+  if [ -f /ONEPLUS ]; then
+    [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  fi
+
+  # GPU and camera get cpu 2
+  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
+  for irq in $CAM_IRQS; do
+    if [ -f "/proc/irq/$irq/smp_affinity_list" ]; then
+      echo 2 > /proc/irq/$irq/smp_affinity_list 2>/dev/null || true
+    fi
+  done
+  if [ -f "/proc/irq/193/smp_affinity_list" ]; then
+    echo 2 > /proc/irq/193/smp_affinity_list 2>/dev/null || true
+  fi
+
+  # give GPU threads RT priority
+  for pid in $(pgrep "kgsl"); do
+    chrt -f -p 52 $pid
+  done
+
+  # the flippening!
+  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
+
+  # disable bluetooth
+  (service call bluetooth_manager 8) &
+
+  # wifi scan
+  wpa_cli IFNAME=wlan0 SCAN
+
+  # install missing libs
+  LIB_PATH="/data/openpilot/system/hardware/eon/libs"
+  PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages"
+  mount -o remount,rw /system
+  # tomli
+  MODULE="tomli"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  # libgfortran
+  if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
+    echo "Installing libgfortran..."
+    tar -zxvf "$LIB_PATH/libgfortran.tar.gz" -C /system/comma/usr/lib/
+  fi
+  # mapd
+  MODULE="opspline"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  MODULE="overpy"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  # laika
+  MODULE="hatanaka"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  if [ ! -f "$PY_LIB_DEST/ncompress.cpython-38.so" ]; then
+    echo "Installing ncompress.cpython-38.so..."
+    cp -f "$LIB_PATH/ncompress.cpython-38.so" "$PY_LIB_DEST/"
+  fi
+  MODULE="importlib_resources"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  if [ ! -f "$PY_LIB_DEST/zipp.py" ]; then
+    echo "Installing zipp.py..."
+    cp -f "$LIB_PATH/zipp.py" "$PY_LIB_DEST/"
+  fi
+  # updated
+  MODULE="markdown_it"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  MODULE="mdurl"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  # panda
+  if [ ! -f "$PY_LIB_DEST/spidev.cpython-38.so" ]; then
+    echo "Installing spidev.cpython-38.so..."
+    cp -f "$LIB_PATH/spidev.cpython-38.so" "$PY_LIB_DEST/"
+  fi
+  # StrEnum in values.py
+  MODULE="strenum"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  mount -o remount,r /system
+
+  # osm server
+  if [ -f /data/params/d/dp_mapd ]; then
+    dp_mapd=`cat /data/params/d/dp_mapd`
+    if [ $dp_mapd == "1" ]; then
+      MODULE="osm-3s_v0.7.56"
+      if [ ! -d /data/media/0/osm/ ]; then
+        tar -vxf "/data/openpilot/system/hardware/eon/libs/$MODULE.tar.xz" -C /data/media/0/
+        mv "/data/media/0/$MODULE" /data/media/0/osm
+      fi
+    fi
+  fi
+
+  # Check for NEOS update
+  if [ -f /LEECO ] && [ -f /VERSION ] && [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
+    echo "Installing NEOS update" > /dev/null  # 静默输出
+    NEOS_PY="$DIR/system/hardware/eon/neos.py"
+    MANIFEST="$DIR/system/hardware/eon/neos.json"
+    $NEOS_PY --swap-if-ready $MANIFEST &
+    $DIR/system/hardware/eon/updater $NEOS_PY $MANIFEST &
+  fi
+
+  # One-time fix for a subset of OP3T with gyro orientation offsets.
+  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
+  # Performed exactly once. The old registry is preserved just-in-case, and
+  # doubles as a flag denoting we've already done the reset.
+  if [ -f /ONEPLUS ] && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
+    echo "Performing OP3T sensor registry reset"
+    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
+      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
+      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
+      sleep 5  # Give Android sensor subsystem a moment to recover
+  fi
+
+  # make sure we have the latest os version number.
+  mount -o remount,rw /system
+  echo -n "$REQUIRED_NEOS_VERSION" > /VERSION
+  mount -o remount,r /system
+}
+
+function agnos_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
+  # 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
+
+  # Check if AGNOS update is required
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/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
+
+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
+  #    the BASEDIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${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
+          cd $BASEDIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset REQUIRED_NEOS_VERSION
+          unset AGNOS_VERSION
+          exec "${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
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /EON ]; then
+    two_init
+  elif [ -f /TICI ]; then
+    tici_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd selfdrive/manager
+  ./build.py && ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch