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This commit is contained in:
Adeeb Shihadeh
2026-08-04 19:37:19 -07:00
parent 4f7c8b7b4c
commit 903814b595
5 changed files with 154 additions and 36 deletions
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Dockerfile.agnos
+7 -1
View File
@@ -118,7 +118,13 @@ ARG XDG_DATA_HOME="/usr/local"
COPY ./userspace/uv /tmp/agnos/uv
RUN source $XDG_DATA_HOME/venv/bin/activate && \
cd /tmp/agnos/uv && \
MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 UV_PROJECT_ENVIRONMENT=$XDG_DATA_HOME/venv uv sync --frozen --inexact --compile-bytecode
MAKEFLAGS="-j$(nproc)" UV_NO_CACHE=1 UV_PROJECT_ENVIRONMENT=$XDG_DATA_HOME/venv uv sync --frozen --inexact --compile-bytecode \
--no-install-package msgq \
--no-install-package opendbc \
--no-install-package pandacan \
--no-install-package rednose \
--no-install-package teleoprtc \
--no-install-package tinygrad
# Install nice to haves
COPY ./userspace/install_extras.sh /tmp/agnos/
sync_openpilot_dependencies.sh
+4
View File
@@ -12,6 +12,10 @@ fi
cd userspace/uv
curl -sSo openpilot/pyproject.toml https://raw.githubusercontent.com/commaai/openpilot/master/pyproject.toml
# Replace openpilot's checkout-relative submodule sources with the Git sources
# configured by AGNOS below. The lockfile pins each resolved commit.
sed -i '/^\[tool\.uv\.sources\]/,$d' openpilot/pyproject.toml
sed -i '${/^$/d;}' openpilot/pyproject.toml
pc="$(python3 -c "import sysconfig;print(sysconfig.get_config_vars('installed_base')[0])")" && \
pcpath=$pc"/lib/pkgconfig" && \
userspace/uv/openpilot/pyproject.toml
-8
View File
@@ -155,11 +155,3 @@ default-groups = ["standalone"]
override-dependencies = [
"opendbc", # panda pins opendbc from git for standalone use; always use our submodule
]
[tool.uv.sources]
msgq = { path = "msgq_repo", editable = true }
opendbc = { path = "opendbc_repo", editable = true }
pandacan = { path = "panda", editable = true }
rednose = { path = "rednose_repo", editable = true }
teleoprtc = { path = "teleoprtc_repo", editable = true }
tinygrad = { path = "tinygrad_repo", editable = true }
userspace/uv/pyproject.toml
+13 -7
View File
@@ -6,16 +6,16 @@ requires-python = ">=3.12.3, <3.13"
description = ""
dependencies = [
"openpilot",
"openpilot[tools,testing]",
"openpilot[tools,testing,submodules]",
"msgq",
"opendbc",
"pandacan",
"rednose",
"teleoprtc",
"tinygrad",
"tinymesa==25.2.7.2",
"pycapnp==2.1.0", # 2.2 introduces a memory leak due to cyclic references
"comma-deps-eigen",
"cython",
"libdatachannel-py>=2026.1.0.dev2",
"pycryptodome",
"setuptools",
"spidev",
# hardware.py
"dbus-python",
@@ -42,3 +42,9 @@ dependencies = [
[tool.uv.sources]
openpilot = { path = "openpilot" }
msgq = { git = "https://github.com/commaai/msgq.git", rev = "master" }
opendbc = { git = "https://github.com/commaai/opendbc.git", rev = "master" }
pandacan = { git = "https://github.com/commaai/panda.git", rev = "master" }
rednose = { git = "https://github.com/commaai/rednose.git", rev = "master" }
teleoprtc = { git = "https://github.com/commaai/teleoprtc.git", rev = "master" }
tinygrad = { git = "https://github.com/tinygrad/tinygrad.git", rev = "master" }
userspace/uv/uv.lock
Generated
+130 -20
View File
@@ -7,52 +7,52 @@ name = "agnos"
version = "0.1.0"
source = { virtual = "." }
dependencies = [
{ name = "comma-deps-eigen" },
{ name = "comma-deps-raylib" },
{ name = "cython" },
{ name = "dbus-python" },
{ name = "evdev" },
{ name = "flaky" },
{ name = "ipython" },
{ name = "libdatachannel-py" },
{ name = "libusb1" },
{ name = "matplotlib" },
{ name = "openpilot", extra = ["testing", "tools"] },
{ name = "msgq" },
{ name = "opendbc" },
{ name = "openpilot", extra = ["submodules", "testing", "tools"] },
{ name = "pandacan" },
{ name = "paramiko" },
{ name = "py-spy" },
{ name = "pycapnp" },
{ name = "pycryptodome" },
{ name = "pyusb" },
{ name = "setuptools" },
{ name = "rednose" },
{ name = "smbus2" },
{ name = "spidev" },
{ name = "spidev2" },
{ name = "teleoprtc" },
{ name = "tinygrad" },
{ name = "tinymesa" },
]
[package.metadata]
requires-dist = [
{ name = "comma-deps-eigen" },
{ name = "comma-deps-raylib" },
{ name = "cython" },
{ name = "dbus-python" },
{ name = "evdev" },
{ name = "flaky" },
{ name = "ipython" },
{ name = "libdatachannel-py", specifier = ">=2026.1.0.dev2" },
{ name = "libusb1", specifier = "==3.1.0" },
{ name = "matplotlib" },
{ name = "msgq", git = "https://github.com/commaai/msgq.git?rev=master" },
{ name = "opendbc", git = "https://github.com/commaai/opendbc.git?rev=master" },
{ name = "openpilot", directory = "openpilot" },
{ name = "openpilot", extras = ["tools", "testing"], directory = "openpilot" },
{ name = "openpilot", extras = ["tools", "testing", "submodules"], directory = "openpilot" },
{ name = "pandacan", git = "https://github.com/commaai/panda.git?rev=master" },
{ name = "paramiko" },
{ name = "py-spy" },
{ name = "pycapnp", specifier = "==2.1.0" },
{ name = "pycryptodome" },
{ name = "pyusb" },
{ name = "setuptools" },
{ name = "rednose", git = "https://github.com/commaai/rednose.git?rev=master" },
{ name = "smbus2" },
{ name = "spidev" },
{ name = "spidev2" },
{ name = "teleoprtc", git = "https://github.com/commaai/teleoprtc.git?rev=master" },
{ name = "tinygrad", git = "https://github.com/tinygrad/tinygrad.git?rev=master" },
{ name = "tinymesa", specifier = "==25.2.7.2" },
]
@@ -489,6 +489,15 @@ wheels = [
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name = "importlib-resources"
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source = { registry = "https://pypi.org/simple" }
sdist = { url = "https://files.pythonhosted.org/packages/e4/06/b56dfa750b44e86157093bc8fca0ab81dccbf5260510de4eaf1cb69b5b99/importlib_resources-7.1.0.tar.gz", hash = "sha256:0722d4c6212489c530f2a145a34c0a7a3b4721bc96a15fada5930e2a0b760708", size = 44985, upload-time = "2026-04-12T16:36:09.232Z" }
wheels = [
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]
[[package]]
name = "inputs"
version = "0.5"
@@ -609,6 +618,24 @@ wheels = [
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[[package]]
name = "libusb-package"
version = "1.0.30.0"
source = { registry = "https://pypi.org/simple" }
dependencies = [
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]
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version = "3.1.0"
@@ -658,6 +685,20 @@ wheels = [
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[[package]]
name = "mpmath"
version = "1.3.0"
source = { registry = "https://pypi.org/simple" }
sdist = { url = "https://files.pythonhosted.org/packages/e0/47/dd32fa426cc72114383ac549964eecb20ecfd886d1e5ccf5340b55b02f57/mpmath-1.3.0.tar.gz", hash = "sha256:7a28eb2a9774d00c7bc92411c19a89209d5da7c4c9a9e227be8330a23a25b91f", size = 508106, upload-time = "2023-03-07T16:47:11.061Z" }
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[[package]]
name = "msgq"
version = "0.0.1"
source = { git = "https://github.com/commaai/msgq.git?rev=master#425b61a60358895b894e9a6920b1d3e06903132e" }
[[package]]
name = "numpy"
version = "2.5.1"
@@ -677,6 +718,17 @@ wheels = [
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[[package]]
name = "opendbc"
version = "0.3.1"
source = { git = "https://github.com/commaai/opendbc.git?rev=master#1bacd87e5aee0abb7dc5b3fdee41382f8032f639" }
dependencies = [
{ name = "numpy" },
{ name = "pycapnp" },
{ name = "pycryptodome" },
{ name = "tqdm" },
]
[[package]]
name = "openpilot"
version = "0.1.0"
@@ -709,6 +761,14 @@ dependencies = [
]
[package.optional-dependencies]
submodules = [
{ name = "msgq" },
{ name = "opendbc" },
{ name = "pandacan" },
{ name = "rednose" },
{ name = "teleoprtc" },
{ name = "tinygrad" },
]
testing = [
{ name = "codespell" },
{ name = "coverage" },
@@ -743,23 +803,23 @@ requires-dist = [
{ name = "inputs" },
{ name = "jeepney" },
{ name = "matplotlib", marker = "extra == 'tools'" },
{ name = "msgq", marker = "extra == 'submodules'", editable = "openpilot/msgq_repo" },
{ name = "msgq", marker = "extra == 'submodules'" },
{ name = "numpy", specifier = ">=2.0" },
{ name = "opendbc", marker = "extra == 'submodules'", editable = "openpilot/opendbc_repo" },
{ name = "pandacan", marker = "extra == 'submodules'", editable = "openpilot/panda" },
{ name = "opendbc", marker = "extra == 'submodules'" },
{ name = "pandacan", marker = "extra == 'submodules'" },
{ name = "pycapnp", specifier = "==2.1.0" },
{ name = "pyjwt", extras = ["crypto"] },
{ name = "pyzmq" },
{ name = "qrcode" },
{ name = "rednose", marker = "extra == 'submodules'", editable = "openpilot/rednose_repo" },
{ name = "rednose", marker = "extra == 'submodules'" },
{ name = "requests" },
{ name = "ruff", marker = "extra == 'testing'" },
{ name = "scons" },
{ name = "sentry-sdk" },
{ name = "setproctitle" },
{ name = "sounddevice" },
{ name = "teleoprtc", marker = "extra == 'submodules'", editable = "openpilot/teleoprtc_repo" },
{ name = "tinygrad", marker = "extra == 'submodules'", editable = "openpilot/tinygrad_repo" },
{ name = "teleoprtc", marker = "extra == 'submodules'" },
{ name = "tinygrad", marker = "extra == 'submodules'" },
{ name = "tqdm" },
{ name = "ty", marker = "extra == 'testing'" },
{ name = "websocket-client" },
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{ name = "libusb1" },
{ name = "opendbc" },
{ name = "spidev", marker = "sys_platform == 'linux'" },
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[[package]]
name = "paramiko"
version = "5.0.0"
@@ -1050,6 +1121,20 @@ wheels = [
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{ name = "comma-deps-eigen" },
{ name = "cython" },
{ name = "numpy" },
{ name = "scons" },
{ name = "setuptools" },
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