StarPilot/SConstruct

import os
import subprocess
import sys
import sysconfig
import platform
import shlex
import importlib
import re
import stat
import numpy as np

import SCons.Errors
from SCons.Defaults import _stripixes

COMMA_HARDWARE = os.path.isfile('/AGNOS')

SCons.Warnings.warningAsException(True)

Decider('MD5-timestamp')

SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))

AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
AddOption('--verbose', action='store_true', default=False, help='show full build commands')
release = os.path.exists(File('#git_src_commit').abspath)  # written by release packaging
AddOption('--minimal',
          action='store_false',
          dest='extras',
          default=(not COMMA_HARDWARE and not release),
          help='the minimum build to run openpilot. no tests, tools, etc.')

dependency_python_paths = [
  Dir("#").abspath,
  Dir("#msgq_repo").abspath,
  Dir("#opendbc_repo").abspath,
  Dir("#rednose_repo").abspath,
  Dir("#teleoprtc_repo").abspath,
  Dir("#tinygrad_repo").abspath,
]
for p in reversed(dependency_python_paths):
  if p not in sys.path:
    sys.path.insert(0, p)

if external_pythonpath := os.environ.get("PYTHONPATH"):
  dependency_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in dependency_python_paths]

# Detect platform
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
  arch = "Darwin"
elif arch == "aarch64" and COMMA_HARDWARE:
  arch = "comma_arm64"
assert arch in [
  "comma_arm64",  # linux comma hardware (AGNOS) arm64
  "aarch64",      # linux pc arm64
  "x86_64",       # linux pc x64
  "Darwin",       # macOS arm64 (x86 not supported)
]

pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
if arch != 'Darwin':
  pkg_names.append('libusb')
pkgs = [importlib.import_module(name) for name in pkg_names]
acados = pkgs[pkg_names.index('acados')]
ffmpeg = pkgs[pkg_names.index('ffmpeg')]
from tools.laptop_device_build.runtime_paths import runtime_library_path

build_sysroot = os.environ.get("COMMA_BUILD_SYSROOT") if arch == "comma_arm64" else None
ffmpeg_runtime_dir = runtime_library_path(ffmpeg.LIB_DIR, sys.prefix, "/usr/local/venv" if build_sysroot else None)
# Shared package ships .so/.dylib; older device venvs still have static .a only.
# Keep static link deps (x264/z/va/drm) when the installed package is static so
# COMMA_HARDWARE CI works without upgrading the device venv yet.
# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
ffmpeg_shared = any(
  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
  for n in _ffmpeg_lib_names
)
ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
if not ffmpeg_shared:
  ffmpeg_libs += ['x264', 'z']
  if arch != "Darwin":
    ffmpeg_libs += ['va', 'va-drm', 'drm']
acados_include_dirs = [
  acados.INCLUDE_DIR,
  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
]


# ***** enforce a whitelist of system libraries *****
# this prevents silently relying on a 3rd party package,
# e.g. apt-installed libusb. all libraries should either
# be distributed with all Linux distros and macOS, or
# vendored in commaai/dependencies.
allowed_system_libs = {
  "EGL", "GLESv2", "GL",
  "dl", "drm", "gbm", "m", "pthread",
}

def _resolve_lib(env, name):
  for d in env.Flatten(env.get('LIBPATH', [])):
    p = Dir(str(d)).abspath
    for ext in ('.a', '.so', '.dylib'):
      f = File(os.path.join(p, f'lib{name}{ext}'))
      if f.exists() or f.has_builder():
        return name
  if name in allowed_system_libs:
    return name
  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")

def _libflags(target, source, env, for_signature):
  libs = []
  lp = env.subst('$LIBLITERALPREFIX')
  for lib in env.Flatten(env.get('LIBS', [])):
    if isinstance(lib, str):
      if os.sep in lib or lib.startswith('#'):
        libs.append(File(lib))
      elif lib.startswith('-') or (lp and lib.startswith(lp)):
        libs.append(lib)
      else:
        libs.append(_resolve_lib(env, lib))
    else:
      libs.append(lib)
  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])

env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
    "PYTHONPATH": os.pathsep.join(dependency_python_paths),
    "ACADOS_SOURCE_DIR": acados.DIR,
    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
    "TERA_PATH": acados.TERA_PATH
  },
  CCFLAGS=[
    "-g",
    "-fPIC",
    "-pipe",
    "-O2",
    "-Wunused",
    "-Werror",
    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
    "-Wno-unknown-warning-option",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-vla-cxx-extension",
  ],
  CFLAGS=["-std=gnu11"],
  CXXFLAGS=["-std=c++1z"],
  CPPPATH=[
    "#openpilot",
    "#msgq_repo",            # #include "msgq/..."
    "#opendbc_repo",         # #include "opendbc/..."
    "#rednose_repo",         # #include "rednose/..."
    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
    "#openpilot/cereal/gen/cpp",
    acados_include_dirs,
    [x.INCLUDE_DIR for x in pkgs],
    "#",
  ],
  LIBPATH=[
    "#openpilot/common",
    "#msgq_repo",
    "#openpilot/selfdrive/pandad",
    "#rednose_repo/rednose/helpers",
    [x.LIB_DIR for x in pkgs],
  ],
  RPATH=[ffmpeg_runtime_dir] if ffmpeg_shared else [],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#rednose_repo",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
)
# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
if arch == "Darwin":
  env["RPATHPREFIX"] = "-Wl,-rpath,"
  env["RPATHSUFFIX"] = ""
  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
if arch != "comma_arm64":
  env['_LIBFLAGS'] = _libflags

# Arch-specific flags and paths
if arch == "comma_arm64":
  env["CC"] = "clang"
  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
    "/usr/lib/aarch64-linux-gnu",
  ])
  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
  env.Append(CCFLAGS=arch_flags)
  env.Append(CXXFLAGS=arch_flags)
  if build_sysroot:
    if not all(os.path.isdir(os.path.join(build_sysroot, part)) for part in ("usr/include", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")):
      raise SCons.Errors.UserError(f"Incomplete COMMA_BUILD_SYSROOT: {build_sysroot}")
    # Clang's --sysroot controls the standard headers and linker startup/libs;
    # explicit SCons paths make device libraries win over container libraries.
    env.Prepend(CPPPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/include", "usr/include")])
    env.Prepend(LIBPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/lib", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")])
    env.Append(CCFLAGS=[f"--sysroot={build_sysroot}"])
    env.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])
elif arch == "Darwin":
  env.Append(LIBPATH=[
    "/System/Library/Frameworks/OpenGL.framework/Libraries",
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])

_extra_cc = shlex.split(GetOption('ccflags') or '')
if _extra_cc:
  env.Append(CCFLAGS=_extra_cc)

# no --as-needed on mac linker
if arch != "Darwin":
  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])

# Shorter build output: show brief descriptions instead of full commands.
# Full command lines are still printed on failure by scons.
if not GetOption('verbose'):
  for action, short in (
    ("CC",     "CC"),
    ("CXX",    "CXX"),
    ("LINK",   "LINK"),
    ("SHCC",   "CC"),
    ("SHCXX",  "CXX"),
    ("SHLINK", "LINK"),
    ("AR",     "AR"),
    ("RANLIB", "RANLIB"),
    ("AS",     "AS"),
  ):
    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"

# ********** Cython build environment **********
envCython = env.Clone()
envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["CCFLAGS"].remove("-Werror")

envCython["LIBS"] = []
if arch == "Darwin":
  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
  if build_sysroot:
    envCython.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])

np_version = SCons.Script.Value(np.__version__)
Export('envCython', 'np_version')

Export('env', 'arch', 'acados', 'ffmpeg_libs')

# Setup cache dir
cache_dir = os.environ.get('SCONS_CACHE', '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache')
cache_size_limit = 4e9 if "CI" in os.environ else 2e9
CacheDir(cache_dir)
Clean(["."], cache_dir)

def prune_cache_dir(target=None, source=None, env=None):
  cache_files = []
  cache_root = os.path.normpath(cache_dir)
  for root, _, files in os.walk(cache_root):
    shard = os.path.basename(root)
    if os.path.dirname(root) != cache_root or re.fullmatch(r'[0-9A-Fa-f]{2}', shard) is None:
      continue
    for name in files:
      if re.fullmatch(r'(?:[0-9a-f]{32}|[0-9a-f]{64})', name) is None or name[:2].lower() != shard.lower():
        continue
      path = os.path.join(root, name)
      try:
        info = os.stat(path, follow_symlinks=False)
      except FileNotFoundError:
        continue
      if stat.S_ISREG(info.st_mode):
        cache_files.append((info.st_mtime, info.st_size, path))
  cache_files.sort()
  cache_size = sum(size for _, size, _ in cache_files)
  for _, size, path in cache_files:
    if cache_size < cache_size_limit:
      break
    try:
      os.unlink(path)
    except FileNotFoundError:
      pass
    cache_size -= size

# ********** start building stuff **********

SConscript(['opendbc_repo/opendbc/can/SConscript'])

# Build common module
SConscript(['openpilot/common/SConscript'])
Import('_common')
common = [_common, 'json11', 'zmq']
Export('common')

# Build messaging (cereal + msgq + socketmaster + their dependencies)
SConscript(['msgq_repo/SConscript'])

SConscript(['openpilot/cereal/SConscript'])

Import('socketmaster', 'msgq')
messaging = [socketmaster, msgq, 'capnp', 'kj',]
Export('messaging')


# Build dependency sources
SConscript(['panda/SConscript'])

# Build rednose library
SConscript(['rednose_repo/rednose/SConscript'])

# Build system services
SConscript([
  'openpilot/system/loggerd/SConscript',
])

if arch == "comma_arm64":
  SConscript(['openpilot/system/camerad/SConscript'])
  SConscript(['openpilot/starpilot/system/android_auto/SConscript'])

# Build selfdrive
SConscript([
  'openpilot/selfdrive/pandad/SConscript',
  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
  'openpilot/selfdrive/locationd/SConscript',
  'openpilot/selfdrive/modeld/SConscript',
  'openpilot/selfdrive/ui/SConscript',
  'openpilot/starpilot/audio/native/SConscript',
  'openpilot/starpilot/models/runtime_bridge/SConscript',
  'openpilot/starpilot/flm/SConscript',
])

# Replay is also the isolated on-device viewer engine.
if GetOption('extras') or arch == "comma_arm64":
  SConscript(['openpilot/tools/replay/SConscript'])

# Build desktop-only tools
if GetOption('extras') and arch != "comma_arm64":
  SConscript([
    'openpilot/tools/cabana/SConscript',
    'openpilot/tools/jotpluggler/SConscript',
  ])


env.CompilationDatabase('compile_commands.json')

# progress output
def count_scons_nodes(nodes):
  seen = set()
  stack = list(nodes)

  while stack:
    node = stack.pop().disambiguate()
    if node in seen:
      continue
    seen.add(node)
    executor = node.get_executor()
    if executor is not None:
      stack += executor.get_all_prerequisites() + executor.get_all_children()

  return len(seen)

progress_interval = 5
progress_count = 0
progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))

def progress_function(node):
  global progress_count
  if progress_count >= progress_total:
    return
  progress_count = min(progress_count + progress_interval, progress_total)
  progress = round(100. * progress_count / progress_total, 1)
  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
  if progress == 100. and sys.stderr.isatty():
    sys.stderr.write("\n")
  sys.stderr.flush()

Progress(progress_function, interval=progress_interval)
AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)

# Release CI rebuilds tracked device outputs for the host architecture.
if manifest_path := os.environ.get("STARPILOT_CI_BUILD_MANIFEST"):
  from tools.release.build_manifest import capture
  manifest_nodes = env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)
  manifest_seen = set()
  manifest_outputs = set()
  while manifest_nodes:
    manifest_node = manifest_nodes.pop().disambiguate()
    if manifest_node in manifest_seen:
      continue
    manifest_seen.add(manifest_node)
    manifest_executor = manifest_node.get_executor()
    if manifest_executor is not None:
      manifest_nodes += manifest_executor.get_all_prerequisites() + manifest_executor.get_all_children()
      for target in manifest_executor.get_all_targets():
        if target.is_derived() and hasattr(target, 'abspath'):
          relative = os.path.relpath(target.abspath, Dir('#').abspath)
          if not relative.startswith('../'):
            manifest_outputs.add(relative)
  capture(Dir('#').abspath, manifest_path, manifest_outputs,
          {'arch': arch, 'targets': list(BUILD_TARGETS), 'extras': GetOption('extras'),
           'ccflags': GetOption('ccflags'), 'release': release, 'arguments': dict(ARGUMENTS),
           'toolchain': {key: str(env.get(key, '')) for key in
                         ('CC', 'CXX', 'CCFLAGS', 'CFLAGS', 'CXXFLAGS', 'LINKFLAGS')}})