mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-09-01 19:33:53 +08:00
IQ.Lvbs CI [bot]
129 lines
8.0 KiB
Bash
Executable File
129 lines
8.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Python env + proprietary runtime sync for the openpilot tree.
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#
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# Two callers, same steps:
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# - launch_chffrplus.sh sources this at boot and calls sync_python_env. When an
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# update was already prepared this is a warm no-op; when there is real work
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# (local dev edits, failed prep) it runs under the boot spinner as before.
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# - updated.py executes this standalone right after an update is applied to
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# disk, so the heavy uv/package work happens offroad with the stack idle
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# instead of at boot alongside everything else starting at once.
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#
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# Variables assigned here (VENV_SITE_PACKAGES, BASE_SITE_PACKAGES, ...) are
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# intentionally global: the sourced caller composes PYTHONPATH from them.
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sync_python_env() {
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local DIR
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/../.." >/dev/null && pwd )"
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# Best-effort: install the verified runtime before anything starts the services that
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# need it. This only succeeds on a tree that has built _verified_import.so, so on a
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# prebuilt release install it is a no-op -- there the runtime arrives with the IQ.OS
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# flash, whose image bakes it in. What actually fixes the 20+ minute first-install hang
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# is --no-block on the service starts below: hephaestusd/ble-transportd/flockd each
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# ExecStartPre-wait up to 600s for /usr/libexec/iqpilot/iqpilot_bundle_runner.
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if [ -x "$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" ]; then
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"$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" || true
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fi
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# Install/update proprietary runtime bundles.
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if [ -f "$DIR/artifacts/runtime/ensure_private_installed.sh" ]; then
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bash "$DIR/artifacts/runtime/ensure_private_installed.sh" || true
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elif [ -x "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" ]; then
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# Backward-compat fallback for older trees.
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"$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" || true
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fi
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PYTHONPATH="$DIR" /usr/local/venv/bin/python3 -c "from iqpilot.common.git_creds import install_credential_helper; install_credential_helper('$DIR')" 2>/dev/null || true
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PACKAGE_SOURCES_ID="$(git -C "$DIR" rev-parse --verify --quiet "HEAD:artifacts/package_sources" 2>/dev/null || true)"
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PACKAGE_LOCK_SHA="$(printf '%s\n%s\n' "$(sha256sum "$DIR/uv.lock" | awk '{print $1}')" "$PACKAGE_SOURCES_ID" | sha256sum | awk '{print $1}')"
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INSTALLED_PACKAGE_LOCK_SHA="$(cat "$DIR/.iqpilot-package-lock-sha256" 2>/dev/null || true)"
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mapfile -t RUNTIME_WHEELS < <(/usr/local/venv/bin/python3 "$DIR/iqpilot/system/runtime_wheel_requirements.py" "$DIR")
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mapfile -t RUNTIME_WHEEL_SOURCES < <(/usr/local/venv/bin/python3 "$DIR/iqpilot/system/runtime_wheel_requirements.py" "$DIR" --sources)
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RUNTIME_WHEEL_LOCK_SHA="$(printf '%s\n' "${RUNTIME_WHEELS[@]}" | sha256sum | awk '{print $1}')"
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INSTALLED_RUNTIME_WHEEL_LOCK_SHA="$(cat "$DIR/.iqpilot-runtime-wheel-lock-sha256" 2>/dev/null || true)"
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BASE_SITE_PACKAGES="$(/usr/local/venv/bin/python3 -c 'import site; print(site.getsitepackages()[0])')"
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PROJECT_RAYLIB="$("$DIR/.venv/bin/python3" -c 'import importlib.metadata; print(importlib.metadata.distribution("raylib").locate_file(""))' 2>/dev/null || true)"
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if [[ "$PROJECT_RAYLIB" = "$DIR/.venv"/* ]]; then
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sudo rm -rf "$DIR/.venv"
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rm -f "$DIR/.iqpilot-package-lock-sha256" "$DIR/.iqpilot-runtime-wheel-lock-sha256"
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INSTALLED_PACKAGE_LOCK_SHA=""
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INSTALLED_RUNTIME_WHEEL_LOCK_SHA=""
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fi
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VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])' 2>/dev/null || true)"
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PACKAGES_READY=0
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if [ -d "$DIR/artifacts/package_runtime" ] && PYTHONPATH="$DIR/artifacts/package_runtime" /usr/local/venv/bin/python3 -c "import iqdbc, msgq, panda, tinygrad" 2>/dev/null; then
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PACKAGES_READY=1
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elif [ "$PACKAGE_LOCK_SHA" = "$INSTALLED_PACKAGE_LOCK_SHA" ] && "$DIR/.venv/bin/python3" -c "import iqdbc, msgq, panda, tinygrad" 2>/dev/null \
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&& "$DIR/.venv/bin/python3" "$DIR/iqpilot/system/runtime_packages_verify.py"; then
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# a top-level import passes on a partially extracted install (lazy backends),
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# so readiness also requires every wheel RECORD file to exist on disk
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PACKAGES_READY=1
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fi
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RUNTIME_WHEELS_READY=0
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if [ -d "$DIR/artifacts/package_runtime" ] && PYTHONPATH="$DIR/artifacts/package_runtime" /usr/local/venv/bin/python3 -c "import libdatachannel" 2>/dev/null; then
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RUNTIME_WHEELS_READY=1
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elif [ "$RUNTIME_WHEEL_LOCK_SHA" = "$INSTALLED_RUNTIME_WHEEL_LOCK_SHA" ] && "$DIR/.venv/bin/python3" -c "import libdatachannel" 2>/dev/null \
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&& PYTHONPATH="$DIR" "$DIR/.venv/bin/python3" "$DIR/iqpilot/system/runtime_wheels_verify.py"; then
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RUNTIME_WHEELS_READY=1
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fi
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if [ "$PACKAGES_READY" != "1" ] || [ "$RUNTIME_WHEELS_READY" != "1" ]; then
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UV_CACHE_DIR="$DIR/.uv-cache"
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if [ ! -x "$DIR/.venv/bin/python3" ]; then
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UV_CACHE_DIR="$UV_CACHE_DIR" uv venv --python /usr/local/venv/bin/python3 "$DIR/.venv" || return 1
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VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])')"
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fi
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sudo chown -R "$(id -u):$(id -g)" "$DIR/.venv" "$UV_CACHE_DIR" "$DIR/artifacts/package_sources" 2>/dev/null || true
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if [ "${#RUNTIME_WHEELS[@]}" = "0" ] || [ "${#RUNTIME_WHEEL_SOURCES[@]}" = "0" ]; then
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return 1
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fi
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if [ "$PACKAGES_READY" != "1" ]; then
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IQDBC_PACKAGE_SOURCE=""
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PACKAGE_SOURCES=()
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while IFS=$'\t' read -r package_name package_source; do
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PACKAGE_SOURCES+=("$package_source")
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if [ "$package_name" = "iqdbc" ]; then
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IQDBC_PACKAGE_SOURCE="$package_source"
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fi
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done < <(/usr/local/venv/bin/python3 "$DIR/iqpilot/system/runtime_package_sources.py" "$DIR")
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if [ "${#PACKAGE_SOURCES[@]}" = "0" ] || [ -z "$IQDBC_PACKAGE_SOURCE" ]; then
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return 1
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fi
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PACKAGE_BUILD_PYTHONPATH="$BASE_SITE_PACKAGES:$VENV_SITE_PACKAGES"
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# The base AGNOS venv ships Eigen as a Python package instead of under
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# /usr/include, so source-package builds need its install directory on the compiler include path.
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# Resolve it through Python rather than pinning the Python minor version.
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EIGEN_INCLUDE_ROOT="$(/usr/local/venv/bin/python3 -c \
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'from pathlib import Path; import eigen; root = Path(eigen.__file__).resolve().parent / "install"; assert (root / "eigen3/Eigen/Dense").is_file(); print(root)' \
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2>/dev/null || true)"
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PACKAGE_BUILD_CPATH="${CPATH:-}"
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if [ -n "$EIGEN_INCLUDE_ROOT" ]; then
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PACKAGE_BUILD_CPATH="$EIGEN_INCLUDE_ROOT${PACKAGE_BUILD_CPATH:+:$PACKAGE_BUILD_CPATH}"
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fi
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UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" CPATH="$PACKAGE_BUILD_CPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
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uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "$IQDBC_PACKAGE_SOURCE" || return 1
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UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" CPATH="$PACKAGE_BUILD_CPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
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uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "${PACKAGE_SOURCES[@]}" || return 1
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printf '%s\n' "$PACKAGE_LOCK_SHA" > "$DIR/.iqpilot-package-lock-sha256"
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fi
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if [ "$RUNTIME_WHEELS_READY" != "1" ]; then
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UV_CACHE_DIR="$UV_CACHE_DIR" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
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uv pip install --python "$DIR/.venv/bin/python" --no-deps --reinstall "${RUNTIME_WHEEL_SOURCES[@]}" || return 1
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"$DIR/.venv/bin/python3" -c "import libdatachannel" || return 1
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PYTHONPATH="$DIR" "$DIR/.venv/bin/python3" "$DIR/iqpilot/system/runtime_wheels_verify.py" || return 1
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printf '%s\n' "$RUNTIME_WHEEL_LOCK_SHA" > "$DIR/.iqpilot-runtime-wheel-lock-sha256"
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fi
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fi
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if [ -n "$VENV_SITE_PACKAGES" ]; then
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printf 'import site; site.addsitedir("%s")\n' "$BASE_SITE_PACKAGES" | sudo tee "$VENV_SITE_PACKAGES/iqpilot-system-venv.pth" >/dev/null
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fi
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}
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if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
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sync_python_env
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exit $?
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fi
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# NOTE: keep this file in lockstep with the launch-time expectations above --
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# updated.py invokes it standalone and launch_chffrplus.sh sources it.
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