StarPilot/build

#!/usr/bin/env bash
# Project build shortcuts. AGNOS builds natively; laptops use the ARM64 container.
set -euo pipefail

ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
if [[ "${1:-}" == -h || "${1:-}" == --help ]]; then
  cat <<'EOF'
Usage: ./build [jobs] [scons options]
       ./build [--params] [--cereal] [--panda] [jobs] [scons options]
       ./build --mapd
       ./build --check-startup <Params root or namespace> <recovery storage>

On AGNOS/aarch64, builds run natively. On laptops, builds use a Linux/ARM64 container.
--params builds libparams_c.so; --cereal builds cereal outputs; --panda
builds signed panda (C3), panda_h7 and body_h7 firmware only. Numeric jobs become -jN.
RELEASE and CERT are environment variables, not trailing SCons arguments:
  RELEASE=1 CERT=/path/to/certificate ./build --panda 4
CERT must name a readable certificate file. Omit RELEASE for DEBUG firmware.
--mapd explicitly packages the pinned offline Linux/ARM64 Go provider; it
does not fetch map regions or participate in the default build.
Run scripts/laptop_device_build.sh doctor to check local prerequisites.
Full laptop builds require a source-matched QCOM artifact package in
.cache/qcom-artifact-package; device builds still compile models natively.
--check-startup checks retained settings admission read-only using the local
native developer runtime. Supply a matching Params namespace and recovery
storage. A relocated copy can fail its path-bound profile marker.
EOF
  exit 0
fi
if [[ "${1:-}" == --check-startup ]]; then
  if [[ $# -ne 3 ]]; then
    echo "Usage: ./build --check-startup <Params root or namespace> <recovery storage>" >&2
    exit 2
  fi
  exec "${ROOT_DIR}/dev" python "${ROOT_DIR}/tools/check_startup.py" "$2" "$3"
fi
for arg in "$@"; do
  case "${arg}" in
    RELEASE=*|CERT=*)
      echo "ERROR: RELEASE and CERT must be environment variables, not SCons arguments." >&2
      echo "Use: RELEASE=1 CERT=/path/to/certificate ./build --panda 4" >&2
      exit 2
      ;;
  esac
done

build_helper="${ROOT_DIR}/scripts/laptop_device_build.sh"
if [[ -f /AGNOS && "$(uname -s)" == Linux && "$(uname -m)" == aarch64 ]]; then
  build_helper="${ROOT_DIR}/scripts/native_device_build.sh"
fi
if [[ $# -eq 1 && "$1" == --mapd ]]; then
  exec "${ROOT_DIR}/scripts/build_mapd_provider.sh"
fi
if [[ $# -gt 0 ]]; then
  for arg in "$@"; do
    if [[ "$arg" == --mapd ]]; then
      echo "ERROR: --mapd is a standalone package operation; use ./build --mapd" >&2
      exit 2
    fi
  done
fi
shortcut_targets=()
passthrough_args=()
default_args=()
jobs_arg=""
shortcut_includes_panda=0
panda_generated_files=(panda/board/obj/gitversion.h panda/board/obj/version)

while [[ $# -gt 0 ]]; do
  case "$1" in
    --params|-params|-param)
      shortcut_targets+=(openpilot/common/libparams_c.so)
      ;;
    --panda|-panda)
      shortcut_includes_panda=1
      shortcut_targets+=(panda/board/obj/panda.bin.signed panda/board/obj/panda_h7.bin.signed panda/board/obj/body_h7.bin.signed)
      ;;
    --cereal|-cereal)
      shortcut_targets+=(openpilot/cereal/libcereal.a openpilot/cereal/libsocketmaster.a
                         openpilot/cereal/messaging/bridge openpilot/cereal/services.h)
      ;;
    -j|--jobs)
      passthrough_args+=("$1")
      default_args+=("$1")
      if [[ $# -gt 1 ]]; then
        passthrough_args+=("$2")
        default_args+=("$2")
        shift
      fi
      ;;
    *)
      if [[ "$1" =~ ^[0-9]+$ ]]; then
        if [[ "$1" =~ ^0+$ ]]; then
          echo "ERROR: jobs must be positive" >&2
          exit 2
        fi
        jobs_arg="$1"
        passthrough_args+=("-j$1")
      else
        passthrough_args+=("$1")
        default_args+=("$1")
      fi
      ;;
  esac
  shift
done

if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then
  scons_args=(--no-scrub "${shortcut_targets[@]}")
  if [[ ${passthrough_args[0]+present} ]]; then
    scons_args+=("${passthrough_args[@]}")
  fi
  if [[ "$shortcut_includes_panda" -eq 1 ]]; then
    exec "${build_helper}" scons "${scons_args[@]}"
  fi

  # Panda/SConscript updates these even for unrelated targets. Restore their
  # prior bytes for the non-firmware shortcuts, including on build failure.
  tmpdir="$(mktemp -d)"
  restore_panda_metadata() {
    local path safe
    for path in "${panda_generated_files[@]}"; do
      safe="${path//\//__}"
      if [[ -e "${tmpdir}/${safe}.missing" ]]; then
        rm -f "${ROOT_DIR}/${path}"
      else
        cp -p "${tmpdir}/${safe}" "${ROOT_DIR}/${path}"
      fi
    done
    rm -rf "${tmpdir}"
  }
  trap restore_panda_metadata EXIT
  for path in "${panda_generated_files[@]}"; do
    safe="${path//\//__}"
    if [[ -e "${ROOT_DIR}/${path}" ]]; then
      cp -p "${ROOT_DIR}/${path}" "${tmpdir}/${safe}"
    else
      touch "${tmpdir}/${safe}.missing"
    fi
  done
  "${build_helper}" scons "${scons_args[@]}"
  exit $?
fi

python3 "${ROOT_DIR}/tools/release/stage_mapd_provider.py" --source "${ROOT_DIR}" --require-tracked

if [[ -n "${jobs_arg}" ]]; then
  if [[ ${default_args[0]+present} ]]; then
    exec "${build_helper}" build "${jobs_arg}" "${default_args[@]}"
  fi
  exec "${build_helper}" build "${jobs_arg}"
fi
if [[ ${default_args[0]+present} ]]; then
  exec "${build_helper}" build "${default_args[@]}"
fi
exec "${build_helper}" build