- scripts/rc.local.fast: minimal rc.local that defers the heavy bits.
- scripts/bbserial-rebind.service: oneshot unit that unbinds ttyAMA0
from pl011 and (re)loads bbserial before bbctrl.service.
- scripts/bbctrl.service: declare the After/Wants on bbserial-rebind
so we can rely on it rather than racing rc.local.
- scripts/install.sh: ship the cold-boot bits with firmware updates
(mask sysstat, replace dphys-swapfile with an fstab swap entry).
- scripts/rc.local + setup_rpi.sh + setup.py: wire updated paths.
bbctrl.Trace records monotonic-anchored events from process start.
Ctrl, Comm, the Web layer and __init__ are instrumented so a single
GET /api/diag/timing returns a full timeline of import, controller
init, AVR connection, first websocket, and first GET /. The
restart-timing.js client posts performance.now() marks back so the
browser side can be aligned in the same view.
Used to drive the cold-boot optimisations that reduce listen latency
on the Pi by ~8s.
Importing camotics.gplan pulls in a C++ extension (libstdc++,
boost::python, etc.) which adds several seconds to bbctrl startup
on the Pi. Defer it to Planner.init() — bbctrl can serve the UI
and accept connections without ever touching the planner, and the
penalty is paid only the first time motion is queued.
Tornado removed @web.asynchronous in 6.x; bbctrl on the Pi runs an
older but compatible async-aware build. Switching to coroutine syntax
keeps the streaming endpoint working across Tornado 5/6.
Recursive _rotate() may have already moved or unlinked the source path
by the time we try to rename it (also tolerates concurrent logrotate
runs from /etc/cron.reboot). Catch FileNotFoundError instead of
crashing bbctrl on startup.
backup/onefinity-backup.sh: dd-based whole-card backup/restore with
shrink/expand support so a Pi image can be moved between SD cards
of different sizes.
- .pi/BUILD.md: end-to-end macOS dev workflow, deploy paths, dphys-swapfile vs fstab, troubleshooting.
- .pi/Dockerfile.gplan + build-gplan.sh: rebuild gplan.so from source on Raspbian Stretch (Bullseye is too new for the toolchain).
- Makefile: ensure trailing newline between concatenated pug templates so Pug doesn't glue file boundaries together.
