openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/manager/build.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+from pathlib import Path
+from typing import List
+
+# 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.system.hardware import AGNOS
+from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.version import is_dirty
+
+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 = 2560
+MAX_BUILD_PROGRESS = 100
+PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
+
+def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
+  env = os.environ.copy()
+  env['SCONS_PROGRESS'] = "1"
+  nproc = os.cpu_count()
+  if nproc is None:
+    nproc = 2
+
+  extra_args = ["--minimal"] if minimal else []
+
+  # building with all cores can result in using too
+  # much memory, so retry with less parallelism
+  compile_output: List[bytes] = []
+  for n in (nproc, nproc/2, 1):
+    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(1., i / TOTAL_SCONS_NODES), 100.)
+        elif len(line):
+          compile_output.append(line)
+          print(line.decode('utf8', 'replace'))
+      except Exception:
+        pass
+
+    if scons.returncode == 0:
+      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__" and not PREBUILT:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+  build(spinner, is_dirty(), minimal = AGNOS)