#!/usr/bin/env bash
set -e
set -x
set -o pipefail

DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd "$DIR"

BUILD_DIR=/data/openpilot
SOURCE_DIR="$(git rev-parse --show-toplevel)"
python3 "$SOURCE_DIR/tools/vendor/check.py"

export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo:$BUILD_DIR/jetlink_repo"

if [ -z "$RELEASE_BRANCH" ]; then
  echo "RELEASE_BRANCH is not set"
  exit 1
fi

python3 "$SOURCE_DIR/tools/release/stage_mapd_provider.py" --source "$SOURCE_DIR"

BUILD_BRANCH=release-mici-staging


# set git identity
source "$DIR/identity.sh"

echo "[-] Setting up repo T=$SECONDS"
if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
  rm -rf "$BUILD_DIR"
fi
git -C "$SOURCE_DIR" worktree prune
git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
cd "$BUILD_DIR"
git update-ref -d "refs/heads/$BUILD_BRANCH"
git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
git read-tree --empty

# do the files copy
echo "[-] copying files T=$SECONDS"
cd "$SOURCE_DIR"
./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
python3 "$SOURCE_DIR/tools/release/stage_mapd_provider.py" --source "$SOURCE_DIR" --destination "$BUILD_DIR"

# in the directory
cd "$BUILD_DIR"

# use the full CPU available for speeding up the build.
# openpilot resets the CPU frequencies when test_onroad.py runs below.
for policy in /sys/devices/system/cpu/cpufreq/policy*; do
  [ -d "$policy" ] || continue
  hardware_max="$(cat "$policy/cpuinfo_max_freq")"
  echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
done

scons

if [ -z "$PANDA_DEBUG_BUILD" ]; then
  # release panda fw
  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
else
  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
  scons panda/
fi

# Big models are selected and verified through the external model catalog.

# Cleanup
find . -name '*.a' -delete
find . -name '*.o' -delete
find . -name '*.os' -delete
find . -name '*.pyc' -delete
find . -name '__pycache__' -delete
rm -rf .sconsign.dblite Jenkinsfile tools/release/
rm -f openpilot/selfdrive/modeld/models/*.onnx*

# Mark as prebuilt release
touch prebuilt

VERSION=$(cat openpilot/common/version.h | awk -F[\"-]  '{print $2}')
# Add built files to git
# writing larger objects is faster than compressing them on-device
git -c core.compression=0 add -f .
python3 tools/vendor/check.py
git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"
source "$SOURCE_DIR/tools/release/check_file_sizes.sh"

# Run tests
cd "$BUILD_DIR"
RELEASE=1 ./openpilot/selfdrive/test/test_onroad.py "$@"
#tools/test_runner.py openpilot/selfdrive/car/tests/test_car_interfaces.py

echo "[-] pushing release T=$SECONDS"
REFS=()
for branch in ${RELEASE_BRANCH//,/ }; do
  REFS+=("$BUILD_BRANCH:$branch")
done
# uploading the larger pack is faster than spending CPU to optimize it
git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"

echo "[-] done T=$SECONDS"