build

launch_chffrplus.sh

@@ -133,101 +133,10 @@ function launch {
     while true; do sleep 1; done
   fi
 
-  function prebuilt_runtime_compatible {
-    python3 - <<'PY'
-import importlib
-import os
-from pathlib import Path
-import sys
-import time
-
-from openpilot.common.file_chunker import get_existing_chunks
-
-start = time.monotonic()
-last = start
-log_path = os.environ.get("SP_BOOT_TIMING_LOG")
-
-def emit(line):
-  print(line, flush=True)
-  if log_path:
-    try:
-      with open(log_path, "a") as f:
-        f.write(line + "\n")
-    except OSError:
-      pass
-
-def log_step(label):
-  global last
-  now = time.monotonic()
-  emit(f"SP_BOOT_TIMING prebuilt_compat {label} +{now - last:.3f}s total={now - start:.3f}s")
-  last = now
-
-mods = [
-  "openpilot.common.params_pyx",
-  "msgq.ipc_pyx",
-  "msgq.visionipc.visionipc_pyx",
-  "openpilot.common.transformations.transformations",
-  "openpilot.selfdrive.pandad.pandad_api_impl",
-  "openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-  "openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-]
-
-for mod in mods:
-  try:
-    importlib.import_module(mod)
-  except Exception as e:
-    print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
-    raise
-  log_step(f"import:{mod}")
-
-repo_root = Path.cwd().parents[1]
-required_model_artifacts = [
-  repo_root / "selfdrive/modeld/models/driving_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl",
-]
-required_files = [
-  repo_root / "selfdrive/pandad/pandad_api_impl.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
-  repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
-]
-
-for path in required_model_artifacts:
-  try:
-    artifact_paths = [Path(p) for p in get_existing_chunks(path)]
-  except Exception as e:
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}") from e
-  missing_chunks = [p for p in artifact_paths if not p.is_file()]
-  if missing_chunks:
-    missing = ", ".join(str(p) for p in missing_chunks)
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact chunks for {path}: {missing}")
-log_step("required_model_artifacts")
-
-for path in required_files:
-  if not path.is_file():
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
-log_step("required_files")
-PY
-  }
-
-  USE_PREBUILT=1
-  if [ -f /data/params/d/UsePrebuilt ]; then
-    USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
-  fi
-
   sp_launch_timing "prebuilt_decision_done"
-  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
-    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
-    USE_PREBUILT=0
-  fi
-  sp_launch_timing "prebuilt_compat_done"
-
-  if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
+  # Published trees carry this marker and must never compile on-device.
+  # Developers can remove it explicitly when working from a source tree.
+  if [ ! -f "$DIR/prebuilt" ]; then
     sp_launch_timing "build_start"
     ./build.py
     sp_launch_timing "build_done"

selfdrive/ui/layouts/settings/developer.py

@@ -25,10 +25,6 @@ DESCRIPTIONS = {
     "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. " +
     "Changing this setting will restart openpilot if the car is powered on."
   ),
-  'use_prebuilt': tr_noop(
-    "When enabled (default), openpilot uses prebuilt binaries at startup and skips source compilation. " +
-    "Disable this if you intend to edit code and compile directly on-device."
-  ),
 }
 
 
@@ -46,14 +42,6 @@ class DeveloperLayout(Widget):
       enabled=ui_state.is_offroad,
     )
 
-    self._use_prebuilt_toggle = toggle_item(
-      lambda: tr("Use Prebuilt Binaries"),
-      description=lambda: tr(DESCRIPTIONS["use_prebuilt"]),
-      initial_state=self._params.get_bool("UsePrebuilt"),
-      callback=self._on_use_prebuilt,
-      enabled=ui_state.is_offroad,
-    )
-
     # SSH enable toggle + SSH key management
     self._ssh_toggle = toggle_item(
       lambda: tr("Enable SSH"),
@@ -96,7 +84,6 @@ class DeveloperLayout(Widget):
 
     self._scroller = Scroller([
       self._adb_toggle,
-      self._use_prebuilt_toggle,
       self._ssh_toggle,
       self._ssh_keys,
       self._joystick_toggle,
@@ -140,7 +127,6 @@ class DeveloperLayout(Widget):
     # refresh toggles from params to mirror external changes
     for key, item in (
       ("AdbEnabled", self._adb_toggle),
-      ("UsePrebuilt", self._use_prebuilt_toggle),
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
@@ -160,9 +146,6 @@ class DeveloperLayout(Widget):
   def _on_enable_ssh(self, state: bool):
     self._params.put_bool("SshEnabled", state)
 
-  def _on_use_prebuilt(self, state: bool):
-    self._params.put_bool("UsePrebuilt", state)
-
   def _on_joystick_debug_mode(self, state: bool):
     self._params.put_bool("JoystickDebugMode", state)
     self._params.put_bool("LongitudinalManeuverMode", False)

selfdrive/ui/mici/layouts/settings/developer.py

@@ -49,7 +49,6 @@ class DeveloperLayoutMici(NavScroller):
     # ******** Main Scroller ********
     self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
     self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
-    self._use_prebuilt_toggle = BigParamControl("use prebuilt binaries", "UsePrebuilt")
     self._disable_wide_road_toggle = BigParamControl("disable wide road camera", "DisableWideRoad", toggle_callback=restart_needed_callback)
     self._joystick_toggle = BigToggle("joystick debug mode",
                                       initial_state=ui_state.params.get_bool("JoystickDebugMode"),
@@ -71,7 +70,6 @@ class DeveloperLayoutMici(NavScroller):
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys_btn,
-      self._use_prebuilt_toggle,
       self._disable_wide_road_toggle,
       self._joystick_toggle,
       self._long_maneuver_toggle,
@@ -84,7 +82,6 @@ class DeveloperLayoutMici(NavScroller):
     self._refresh_toggles = (
       ("AdbEnabled", self._adb_toggle),
       ("SshEnabled", self._ssh_toggle),
-      ("UsePrebuilt", self._use_prebuilt_toggle),
       ("DisableWideRoad", self._disable_wide_road_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
@@ -94,7 +91,6 @@ class DeveloperLayoutMici(NavScroller):
     )
     onroad_blocked_toggles = (
       self._adb_toggle,
-      self._use_prebuilt_toggle,
       self._disable_wide_road_toggle,
       self._joystick_toggle,
     )

system/manager/launch_param_migrations.py

@@ -187,11 +187,6 @@ def _apply_legacy_launch_param_migrations(params: ParamsLike, marker: Path) -> N
       _approx_equal(steer_kp_stock, LEGACY_STEER_KP_STOCK_PLACEHOLDER)):
     params.put_float(STEER_KP_STOCK_KEY, DEFAULT_STEER_KP)
 
-  # Initialize UsePrebuilt to True if never explicitly set, so the UI default
-  # matches the shell script's default of USE_PREBUILT=1.
-  if not Path(params.get_param_path("UsePrebuilt")).exists():
-    params.put_bool("UsePrebuilt", True)
-
   marker.touch()
 
 

system/manager/test/test_launch_param_migrations.py

@@ -84,23 +84,6 @@ def test_apply_launch_param_migrations_sets_branch_defaults_once(tmp_path):
   assert marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER).is_file()
 
 
-def test_apply_launch_param_migrations_initializes_use_prebuilt(tmp_path):
-  params = FileBackedFakeParams(tmp_path / "params")
-
-  apply_launch_param_migrations(params)
-
-  assert params.get_bool("UsePrebuilt")
-
-
-def test_apply_launch_param_migrations_does_not_overwrite_use_prebuilt(tmp_path):
-  params = FileBackedFakeParams(tmp_path / "params")
-  params.put_bool("UsePrebuilt", False)
-
-  apply_launch_param_migrations(params)
-
-  assert not params.get_bool("UsePrebuilt")
-
-
 def test_apply_launch_param_migrations_does_not_reapply_after_marker(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params")
   marker = marker_path(tmp_path, LAUNCH_PARAM_MIGRATION_MARKER)

system/manager/test/test_launch_prebuilt_policy.py

@@ -0,0 +1,14 @@
+from pathlib import Path
+import re
+
+
+LAUNCH_SCRIPT = Path(__file__).parents[3] / "launch_chffrplus.sh"
+
+
+def test_prebuilt_marker_is_the_only_build_gate():
+  script = LAUNCH_SCRIPT.read_text()
+
+  assert "UsePrebuilt" not in script
+  assert "prebuilt_runtime_compatible" not in script
+  assert len(re.findall(r"\./build\.py", script)) == 1
+  assert re.search(r'if \[ ! -f "\$DIR/prebuilt" \]; then\s+sp_launch_timing "build_start"\s+\./build\.py', script)