Release 260111

scripts/add/amplifier_c3xl.py

@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+import time
+from smbus2 import SMBus
+from collections import namedtuple
+
+# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
+
+AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+BASE_CONFIG = [
+  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
+  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
+  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
+  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
+  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
+  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
+  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
+  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
+  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
+  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
+  AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
+  AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
+  AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
+  AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
+  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
+  AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
+  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
+  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
+  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
+  AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
+  AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
+  AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
+  AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
+  AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
+  AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
+  AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
+  AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
+  AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
+  AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+]
+
+CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
+  "tizi": [
+    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
+  ],
+}
+
+class Amplifier:
+  AMP_I2C_BUS = 0
+  AMP_ADDRESS = 0x10
+
+  def __init__(self, debug=False):
+    self.debug = debug
+
+  def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
+    return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
+
+  def _set_configs(self, configs: list[AmpConfig]) -> None:
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      for config in configs:
+        if self.debug:
+          print(f"Setting \"{config.name}\" to {config.value}:")
+
+        old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+        new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+        bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+        if self.debug:
+          print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_configs(self, configs: list[AmpConfig]) -> bool:
+    # retry in case panda is using the amp
+    tries = 1
+    for i in range(1):
+      try:
+        self._set_configs(configs)
+        return True
+      except OSError:
+        print(f"Failed to set amp config, {tries - i - 1} retries left")
+        time.sleep(0.02)
+    return False
+
+  def set_global_shutdown(self, amp_disabled: bool) -> bool:
+    return self.set_configs([self._get_shutdown_config(amp_disabled), ])
+
+  def initialize_configuration(self, model: str) -> bool:
+    cfgs = [
+      self._get_shutdown_config(True),
+      *BASE_CONFIG,
+      *CONFIGS[model],
+      self._get_shutdown_config(False),
+    ]
+    return self.set_configs(cfgs)
+
+
+#if __name__ == "__main__":
+  #with open("/sys/firmware/devicetree/base/model") as f:
+   # model = f.read().strip('\x00')
+  #model = model.split('comma ')[-1]
+
+  #amp = Amplifier()
+  #amp.initialize_configuration(model)

scripts/apply-pr.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+if [ $# -eq 0 ]; then
+  echo "usage: $0 <pull-request-number>"
+  exit 1
+fi
+
+BASE="https://github.com/commaai/openpilot/pull/"
+PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
+
+curl -L $BASE/$PR_NUM.patch | git apply -3

scripts/cell.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
+nmcli con up esim

scripts/checkout-pr.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -eq 0 ]; then
+  echo "usage: $0 <pull-request-number>"
+  exit 1
+fi
+
+BASE="https://github.com/commaai/openpilot/pull/"
+PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
+BRANCH=tmp-pr${PR_NUM}
+
+git branch -D -f $BRANCH || true
+git fetch -u -f origin pull/$PR_NUM/head:$BRANCH
+git switch $BRANCH
+git reset --hard FETCH_HEAD

scripts/disable-powersave.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from openpilot.system.hardware import HARDWARE
+
+if __name__ == "__main__":
+  HARDWARE.set_power_save(False)

scripts/jenkins_loop_test.sh

@@ -0,0 +1,129 @@
+#!/usr/bin/env bash
+set -e
+
+YELLOW='\033[0;33m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+BRANCH="master"
+RUNS="20"
+
+COOKIE_JAR=/tmp/cookies
+CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
+
+FIRST_LOOP=1
+
+function loop() {
+  JENKINS_BRANCH="__jenkins_loop_${BRANCH}_$(date +%s)"
+  API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
+
+  for run in $(seq 1 $((RUNS / 2))); do
+
+    N=2
+
+    if [[ $FIRST_LOOP ]]; then
+      TEMP_DIR=$(mktemp -d)
+      GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
+      git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
+      echo "TESTING: $(date)" >> $TEMP_DIR/testing_jenkins
+      git -C $TEMP_DIR add testing_jenkins
+      git -C $TEMP_DIR commit --quiet -m "testing"
+      git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
+      rm -rf $TEMP_DIR
+      FIRST_BUILD=1
+      echo ''
+      echo 'waiting on Jenkins...'
+      echo ''
+      sleep 90
+      FIRST_LOOP=""
+    fi
+
+    FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
+    LAST_BUILD=$((FIRST_BUILD+N-1))
+    TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
+
+    # Start N new builds
+    for i in ${TEST_BUILDS[@]};
+    do
+      echo "Starting build $i"
+      curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
+      sleep 5
+    done
+    echo ""
+
+    # Wait for all builds to end
+    while true; do
+      sleep 30
+
+      count=0
+      for i in ${TEST_BUILDS[@]};
+      do
+        RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json)
+        HTTP_CODE=$(tail -n1 <<< "$RES")
+        JSON=$(sed '$ d' <<< "$RES")
+
+        if [[ $HTTP_CODE == "200" ]]; then
+          STILL_RUNNING=$(echo $JSON | jq .inProgress)
+          if [[ $STILL_RUNNING == "true" ]]; then
+            echo -e "Build $i: ${YELLOW}still running${NC}"
+            continue
+          else
+            count=$((count+1))
+            echo -e "Build $i: ${GREEN}done${NC}"
+          fi
+        else
+          echo "No status for build $i"
+        fi
+      done
+      echo "See live results: ${API_ROUTE}/buildTimeTrend"
+      echo ""
+
+      if [[ $count -ge $N ]]; then
+        break
+      fi
+    done
+
+  done
+}
+
+function usage() {
+  echo ""
+  echo "Run the Jenkins tests multiple times on a specific branch"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-n, --n${NC}"
+  echo -e "          Specify how many runs to do (default to ${BOLD}20${NC})"
+  echo -e "  ${BOLD}-b, --branch${NC}"
+  echo -e "          Specify which branch to run the tests against (default to ${BOLD}master${NC})"
+  echo ""
+}
+
+function _looper() {
+  if [[ $# -eq 0 ]]; then
+    usage
+    exit 0
+  fi
+
+  # parse Options
+  while [[ $# -gt 0 ]]; do
+    case $1 in
+      -n | --n ) shift 1; RUNS="$1"; shift 1 ;;
+      -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;;
+      * ) usage; exit 0 ;;
+    esac
+  done
+
+  echo ""
+  echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch."
+  echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before."
+  echo ""
+  read -p "Press (y/Y) to confirm: " choice
+  if [[ "$choice" == "y" || "$choice" == "Y" ]]; then
+    loop
+  fi
+
+}
+
+_looper $@

scripts/launch_corolla.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+export FINGERPRINT="TOYOTA_COROLLA_TSS2"
+export SKIP_FW_QUERY="1"
+$DIR/../launch_openpilot.sh

scripts/lint/check_nomerge_comments.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
+  echo -e "NOMERGE comments found! Remove them before merging\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/check_raylib_includes.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/check_shebang_format.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep '^#!.*python' $@ | grep -v '#!/usr/bin/env python3$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
+  FAIL=1
+fi
+
+if grep '^#!.*bash' $@ | grep -v '#!/usr/bin/env bash$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -0,0 +1,117 @@
+#!/usr/bin/env bash
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$DIR/../../"
+cd $ROOT
+
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP | $RUN ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check $ROOT --quiet
+  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
+  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "mypy" mypy $PYTHON_FILES
+    run "codespell" codespell $ALL_FILES
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [TESTS] [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
+  echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}codespell${NC}"
+  echo -e "  ${BOLD}check_added_large_files${NC}"
+  echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify tests to skip separated by spaces"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint mypy ruff"
+  echo "          Only run the mypy and ruff tests"
+  echo ""
+  echo "  op lint --skip mypy ruff"
+  echo "          Skip the mypy and ruff tests"
+  echo ""
+  echo "  op lint"
+  echo "          Run all the tests"
+}
+
+SKIP=""
+RUN=""
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP=" " ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * ) if [[ -n $SKIP ]]; then SKIP+="$1 "; else RUN+="$1 "; fi; shift 1 ;;
+  esac
+done
+
+RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
+SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
+
+GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
+
+run_tests "$ALL_FILES" "$PYTHON_FILES"

scripts/post-commit

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -e
+if [[ -f .git/hooks/post-commit.d/post-commit ]]; then
+  .git/hooks/post-commit.d/post-commit
+fi
+tools/op.sh lint --fast
+echo ""

scripts/retry.sh

@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+
+function fail {
+  echo $1 >&2
+  exit 1
+}
+
+function retry {
+  local n=1
+  local max=3 # 3 retries before failure
+  local delay=5 # delay between retries, 5 seconds
+  while true; do
+    echo "Running command '$@' with retry, attempt $n/$max"
+    "$@" && break || {
+      if [[ $n -lt $max ]]; then
+        ((n++))
+        sleep $delay;
+      else
+        fail "The command has failed after $n attempts."
+      fi
+    }
+  done
+}
+
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+    retry "$@"
+fi

scripts/stop_updater.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env sh
+
+# Stop updater
+pkill -2 -f system.updated.updated
+
+# Remove pending update
+rm -f /data/safe_staging/finalized/.overlay_consistent

scripts/update_now.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env sh
+
+# Send SIGHUP to updater
+pkill -1 -f system.updated

scripts/waste.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+from multiprocessing import Process
+from setproctitle import setproctitle
+
+def waste(core):
+  os.sched_setaffinity(0, [core,])
+
+  m1 = np.zeros((200, 200)) + 0.8
+  m2 = np.zeros((200, 200)) + 1.2
+
+  i = 1
+  st = time.monotonic()
+  j = 0
+  while 1:
+    if (i % 100) == 0:
+      setproctitle(f"{core:3d}: {i:8d}")
+      lt = time.monotonic()
+      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
+      st = lt
+    i += 1
+    j = np.sum(np.matmul(m1, m2))
+
+def main(gctx=None):
+  print("1-2 seconds is baseline")
+  for i in range(os.cpu_count()):
+    p = Process(target=waste, args=(i,))
+    p.start()
+
+if __name__ == "__main__":
+  main()