IQ.Pilot Prebuilt Release @ ab07000

system/manager/build.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+from pathlib import Path
+
+# NOTE: Do NOT import anything here that needs be built (e.g. params)
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.spinner import Spinner
+from openpilot.common.text_window import TextWindow
+from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.system.version import get_build_metadata
+
+MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
+CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
+
+TOTAL_SCONS_NODES = 5500
+MAX_BUILD_PROGRESS = 100
+
+def get_job_sequence() -> list[int]:
+  env_override = os.environ.get("SCONS_MAX_JOBS")
+  if env_override is not None:
+    try:
+      max_jobs = max(1, int(env_override))
+    except ValueError:
+      max_jobs = 1
+  else:
+    detected_jobs = os.cpu_count() or 2
+    max_jobs = min(detected_jobs, 3 if AGNOS else detected_jobs)
+
+  candidates = [max_jobs, max_jobs // 2, 1]
+  jobs: list[int] = []
+  for candidate in candidates:
+    candidate = max(1, int(candidate))
+    if candidate not in jobs:
+      jobs.append(candidate)
+  return jobs
+
+def heal_submodules() -> None:
+  # An interrupted install can leave a submodule's worktree EMPTY while its
+  # git metadata (.git/modules/<name>, pinned HEAD) is fully present — git
+  # even reports it clean. The build then fails in confusing ways (missing
+  # tinygrad, missing compile3.py). Re-checkout is purely local: no network,
+  # no auth, just materializing the worktree from the objects already on disk.
+  gitmodules = Path(BASEDIR) / ".gitmodules"
+  if not gitmodules.is_file():
+    return  # vendored/prebuilt tree, no submodules
+  try:
+    out = subprocess.check_output(["git", "config", "-f", str(gitmodules), "--get-regexp", r"submodule\..*\.path"],
+                                  cwd=BASEDIR, text=True)
+  except (subprocess.CalledProcessError, OSError):
+    return
+  for line in out.splitlines():
+    path = line.split(" ", 1)[1].strip()
+    p = Path(BASEDIR) / path
+    if p.is_dir() and not any(p.iterdir()):
+      cloudlog.warning(f"submodule {path} worktree is empty, re-checking out from local objects")
+      subprocess.run(["git", "submodule", "update", "--checkout", "--force", path], cwd=BASEDIR, check=False)
+
+
+def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
+  env = os.environ.copy()
+  env['SCONS_PROGRESS'] = "1"
+
+  heal_submodules()
+
+  extra_args = ["--minimal"] if minimal else []
+
+  if AGNOS:
+    HARDWARE.set_power_save(False)
+    os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
+
+  # building with all cores can result in using too
+  # much memory, so retry with less parallelism
+  compile_output: list[bytes] = []
+  for n in get_job_sequence():
+    compile_output.clear()
+    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    assert scons.stderr is not None
+
+    # Read progress from stderr and update spinner
+    while scons.poll() is None:
+      try:
+        line = scons.stderr.readline()
+        if line is None:
+          continue
+        line = line.rstrip()
+
+        prefix = b'progress: '
+        if line.startswith(prefix):
+          i = int(line[len(prefix):])
+          spinner.update_progress(MAX_BUILD_PROGRESS * min(0.99, i / TOTAL_SCONS_NODES), 100.)
+        elif len(line):
+          compile_output.append(line)
+          print(line.decode('utf8', 'replace'))
+      except Exception:
+        pass
+
+    if scons.returncode == 0:
+      spinner.update_progress(100, 100.)
+      break
+
+  if scons.returncode != 0:
+    # Read remaining output
+    if scons.stderr is not None:
+      compile_output += scons.stderr.read().split(b'\n')
+
+    # Build failed log errors
+    error_s = b"\n".join(compile_output).decode('utf8', 'replace')
+    add_file_handler(cloudlog)
+    cloudlog.error("scons build failed\n" + error_s)
+
+    # Show TextWindow
+    spinner.close()
+    if not os.getenv("CI"):
+      with TextWindow("openpilot 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)
+  cache_size = sum(f.stat().st_size for f in cache_files)
+  for f in cache_files:
+    if cache_size < MAX_CACHE_SIZE:
+      break
+    cache_size -= f.stat().st_size
+    f.unlink()
+
+
+if __name__ == "__main__":
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+  build_metadata = get_build_metadata()
+  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)