mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
130 lines
3.4 KiB
Markdown
130 lines
3.4 KiB
Markdown
# Laptop Device Build (Mac/Linux)
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This flow builds **device-target (`larch64`) binaries on your laptop** using a Linux/aarch64 container and a synced comma sysroot.
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For the full StarPilot branch workflow, including host-native shorthand tools such as `./dev`, `./c3`, `./c4`, and `./raybig`, see the [StarPilot development guide](https://github.com/firestar5683/StarPilot/blob/Dom/tools/STARPILOT_DEVELOPMENT.md).
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## Prerequisites
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- Docker Desktop (or Podman) with Linux/aarch64 support.
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- `rsync` and `ssh` on your laptop.
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- Either:
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- access to a comma device over SSH, or
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- internet access to download AGNOS system image for sysroot extraction.
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## One-time setup
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Fast path (no physical comma):
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```bash
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cd /path/to/starpilot
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scripts/laptop_device_build.sh setup
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```
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Equivalent wrapper:
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```bash
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scripts/starpilot_build_flow.sh laptop-setup
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```
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### Option A: no physical comma (AGNOS-based)
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```bash
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cd /path/to/starpilot
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scripts/laptop_device_build.sh build-image
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scripts/laptop_device_build.sh setup-sysroot-agnos
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```
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### Option B: copy sysroot from a comma device
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```bash
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cd /path/to/starpilot
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scripts/laptop_device_build.sh setup-sysroot <device-ip> comma 22
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scripts/laptop_device_build.sh build-image
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```
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Optional all-in-one with physical device sysroot:
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```bash
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scripts/laptop_device_build.sh setup <device-ip> comma 22
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```
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## Build device-compatible artifacts
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```bash
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cd /path/to/starpilot
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scripts/laptop_device_build.sh build
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```
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Equivalent wrapper:
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```bash
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scripts/starpilot_build_flow.sh laptop-device
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```
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This runs:
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- `uv sync` into `/work/.venv-linux-arm64` (inside container)
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- full `scons` with:
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- `SP_FORCE_ARCH=larch64`
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- `SP_FORCE_TICI=1`
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- `SP_TICI_SYSROOT=/opt/tici-sysroot`
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- `touch prebuilt`
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To run `scons` targets explicitly in the same device-compatible environment:
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```bash
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scripts/laptop_device_build.sh scons selfdrive/ui/ui
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```
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On macOS, once `.comma_sysroot` is present, plain `scons ...` auto-routes to this containerized device build.
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Set `SP_DISABLE_AUTO_DEVICE_SCONS=1` to force native host `scons`.
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## Quick checks
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```bash
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scripts/laptop_device_build.sh doctor
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```
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If `doctor` fails, fix the missing runtime/sysroot step before running `build`.
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## One-command manager launch on desktop
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`./launch_openpilot.sh` now auto-routes desktop/mac launches to the containerized larch64 manager path:
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- runs `scripts/laptop_device_build.sh doctor`
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- runs `setup` automatically if prerequisites are missing
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- runs container manager launch, auto-building missing runtime artifacts first
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Useful overrides:
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- `SP_SKIP_DOCKER_AUTO_BUILD=1 ./launch_openpilot.sh` to skip auto-build.
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- `SP_DOCKER_BUILD_JOBS=12 ./launch_openpilot.sh` to control build parallelism.
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- `SP_FORCE_DEVICE_LAUNCH=1 ./launch_openpilot.sh` to force legacy device launch path.
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Note:
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- `manager` mode requires the container runtime machine to be `aarch64`.
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- If your built image runs as `x86_64`, build mode still works for artifact generation, but manager launch in-container is not supported.
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Preferred host-side shorthand commands on this branch:
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```bash
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./c3
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./c4
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./raybig
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./dev replay
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./dev cabana
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./dev plotjuggler
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```
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These commands use the isolated `.host_runtime` cache so host-native artifacts do not churn the main tree.
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Legacy direct script entrypoints still exist if needed:
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```bash
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scripts/launch_ui_desktop.sh
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scripts/launch_ui_c4_desktop.sh
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scripts/launch_ui_raybig_desktop.sh
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```
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