IQ.Pilot Release Commit @ 717ce45

iqpilot/system/manager/build.py

@@ -51,7 +51,44 @@ class _SilentProgress:
     pass
 
 
-def build(spinner, dirty: bool = False, minimal: bool = False, show_error_window: bool = True) -> None:
+REGISTRY_ARTIFACTS = [
+  "iqpilot/cereal/services.h",
+  "iqpilot/cereal/messaging/socketmaster.o",
+  "iqpilot/cereal/libsocketmaster.a",
+  "iqpilot/cereal/messaging/bridge",
+  "iqpilot/selfdrive/iqlocd/iqlocd",
+  "iqpilot/selfdrive/pandad/pandad",
+  "iqpilot/system/camerad/camerad",
+  "iqpilot/system/loggerd/loggerd",
+  "iqpilot/system/loggerd/encoderd",
+  "iqpilot/system/loggerd/bootlog",
+]
+
+
+def stale_registry_artifacts(basedir: str = BASEDIR) -> list[str]:
+  from iqpilot.cereal.services import REGISTRY_TAG_PREFIX, registry_tag
+  expected = registry_tag().encode()
+  prefix = REGISTRY_TAG_PREFIX.encode()
+  stale = []
+  for rel in REGISTRY_ARTIFACTS:
+    path = os.path.join(basedir, rel)
+    if not os.path.isfile(path):
+      continue
+    with open(path, "rb") as f:
+      data = f.read()
+    if prefix in data and expected not in data:
+      stale.append(rel)
+  return stale
+
+
+def purge_registry_artifacts(stale: list[str], basedir: str = BASEDIR) -> None:
+  for rel in set(stale) | set(REGISTRY_ARTIFACTS[:3]):
+    path = os.path.join(basedir, rel)
+    if os.path.isfile(path):
+      os.remove(path)
+
+
+def build(spinner, dirty: bool = False, minimal: bool = False, show_error_window: bool = True, registry_retry: bool = False) -> None:
   env = os.environ.copy()
   env.pop('PWD', None)
   env['SCONS_PROGRESS'] = "1"
@@ -110,6 +147,22 @@ def build(spinner, dirty: bool = False, minimal: bool = False, show_error_window
         t.wait_for_exit()
     exit(1)
 
+  stale = stale_registry_artifacts()
+  if stale and not registry_retry:
+    cloudlog.error(f"compiled service registry is stale in {', '.join(stale)}, rebuilding messaging")
+    purge_registry_artifacts(stale)
+    build(spinner, dirty, minimal, show_error_window, registry_retry=True)
+    return
+  if stale:
+    error_s = "compiled service registry is still stale after rebuild: " + ", ".join(stale)
+    add_file_handler(cloudlog)
+    cloudlog.error(error_s)
+    spinner.close()
+    if not os.getenv("CI") and show_error_window:
+      with TextWindow("IQ.Pilot failed to build\n \n" + error_s) as t:
+        t.wait_for_exit()
+    exit(1)
+
   # enforce max cache size
   cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
   cache_files.sort(key=lambda f: f.stat().st_mtime)

iqpilot/system/manager/test/test_services_registry.py

@@ -0,0 +1,45 @@
+import os
+import re
+
+from iqpilot.cereal.services import REGISTRY_TAG_PREFIX, SERVICE_LIST, build_header, registry_hash, registry_tag
+from iqpilot.system.manager.build import REGISTRY_ARTIFACTS, purge_registry_artifacts, stale_registry_artifacts
+
+
+def test_registry_tag_is_derived_from_the_service_list():
+  assert re.fullmatch(r"[0-9a-f]{16}", registry_hash())
+  assert registry_tag() == REGISTRY_TAG_PREFIX + registry_hash()
+  assert "extrinsicsCalibration" in SERVICE_LIST
+
+
+def test_generated_header_embeds_the_tag():
+  header = build_header()
+  assert f'static const char SERVICES_REGISTRY_TAG[] = "{registry_tag()}";' in header
+  assert '{ "extrinsicsCalibration", {"extrinsicsCalibration"' in header
+
+
+def _write(tmp_path, rel, payload):
+  path = tmp_path / rel
+  path.parent.mkdir(parents=True, exist_ok=True)
+  path.write_bytes(payload)
+  return path
+
+
+def test_stale_detection_flags_only_binaries_carrying_an_old_tag(tmp_path):
+  current = registry_tag().encode()
+  old = (REGISTRY_TAG_PREFIX + "0" * 16).encode()
+  _write(tmp_path, "iqpilot/selfdrive/iqlocd/iqlocd", b"\x7fELF" + old)
+  _write(tmp_path, "iqpilot/system/loggerd/loggerd", b"\x7fELF" + current)
+  _write(tmp_path, "iqpilot/system/camerad/camerad", b"\x7fELF no registry linked")
+  assert stale_registry_artifacts(str(tmp_path)) == ["iqpilot/selfdrive/iqlocd/iqlocd"]
+
+
+def test_purge_removes_the_stale_binary_and_the_messaging_table(tmp_path):
+  for rel in REGISTRY_ARTIFACTS:
+    _write(tmp_path, rel, b"x")
+  purge_registry_artifacts(["iqpilot/selfdrive/iqlocd/iqlocd"], str(tmp_path))
+  remaining = [rel for rel in REGISTRY_ARTIFACTS if os.path.isfile(tmp_path / rel)]
+  assert "iqpilot/selfdrive/iqlocd/iqlocd" not in remaining
+  assert "iqpilot/cereal/services.h" not in remaining
+  assert "iqpilot/cereal/messaging/socketmaster.o" not in remaining
+  assert "iqpilot/cereal/libsocketmaster.a" not in remaining
+  assert "iqpilot/system/loggerd/loggerd" in remaining