TOOLS
This commit is contained in:
firestar5683
Executable
+531
@@ -0,0 +1,531 @@
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#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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cd "${ROOT_DIR}"
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PLATFORM_KEY="$(uname -s | tr '[:upper:]' '[:lower:]')"
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HOST_PLATFORM_ROOT="${ROOT_DIR}/.host_runtime/${PLATFORM_KEY}"
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HOST_ROOT=""
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WORK_DIR=""
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HOST_VENV=""
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HOST_LOCK_DIR=""
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HOST_LOCK_PID_FILE=""
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HOST_LOCK_CMD_FILE=""
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HOST_LOCK_HELD=0
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HOST_BUCKETS=(shared cabana plotjuggler)
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usage() {
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cat <<'EOF'
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Usage:
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./dev <command> [args...]
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./tool <command> [args...]
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./tools/host <command> [args...]
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Commands:
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c3 Launch the desktop Qt UI from the isolated host cache.
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c4 Launch the small raylib UI from the isolated host cache.
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raybig Launch the large raylib UI from the isolated host cache.
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replay Build and run replay from the isolated host cache.
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cabana Build and run cabana from the isolated host cache.
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plotjuggler Run PlotJuggler helper from the isolated host cache.
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juggle Alias for plotjuggler.
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sync Refresh the isolated host cache only.
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shell Open a shell inside the isolated host cache.
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help Show this help text.
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Notes:
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- Host-tool builds happen under ./.host_runtime/ and do not touch the main tree.
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- `cabana` and `plotjuggler` use their own host-runtime buckets and can run together.
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- Other commands that share a bucket still wait on that bucket's lock.
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- `./build` remains the device-target flow.
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- For c3/c4/raybig, pass the jobs count first to preserve existing shorthand:
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./dev c3 8
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./dev raybig 12
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- `./dev sync` refreshes all host buckets. Use `./dev sync cabana` to sync one.
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EOF
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}
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default_jobs() {
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if command -v nproc >/dev/null 2>&1; then
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nproc
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elif command -v sysctl >/dev/null 2>&1; then
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sysctl -n hw.ncpu
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else
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echo 8
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fi
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}
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resolve_host_bucket() {
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local name="${1:-shared}"
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case "${name}" in
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shared|default|ui|c3|c4|raybig|replay|shell)
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echo "shared"
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;;
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cabana)
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echo "cabana"
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;;
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plotjuggler|juggle)
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echo "plotjuggler"
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;;
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*)
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return 1
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;;
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esac
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}
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set_host_bucket() {
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local bucket="$1"
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if [[ "${bucket}" == "shared" ]]; then
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HOST_ROOT="${HOST_PLATFORM_ROOT}"
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else
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HOST_ROOT="${HOST_PLATFORM_ROOT}/${bucket}"
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fi
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WORK_DIR="${HOST_ROOT}/worktree"
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HOST_VENV="${HOST_ROOT}/venv"
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HOST_LOCK_DIR="${HOST_ROOT}/lock"
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HOST_LOCK_PID_FILE="${HOST_LOCK_DIR}/pid"
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HOST_LOCK_CMD_FILE="${HOST_LOCK_DIR}/command"
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}
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lock_owner_summary() {
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local lock_pid=""
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local lock_cmd="unknown"
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if [[ -f "${HOST_LOCK_PID_FILE}" ]]; then
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lock_pid="$(<"${HOST_LOCK_PID_FILE}")"
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fi
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if [[ -f "${HOST_LOCK_CMD_FILE}" ]]; then
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lock_cmd="$(<"${HOST_LOCK_CMD_FILE}")"
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fi
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if [[ -n "${lock_pid}" ]]; then
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echo "pid ${lock_pid} (${lock_cmd})"
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else
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echo "${lock_cmd}"
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fi
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}
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lock_is_stale() {
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local lock_pid=""
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if [[ ! -f "${HOST_LOCK_PID_FILE}" ]]; then
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return 1
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fi
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lock_pid="$(<"${HOST_LOCK_PID_FILE}")"
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if [[ ! "${lock_pid}" =~ ^[0-9]+$ ]]; then
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return 0
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fi
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if kill -0 "${lock_pid}" 2>/dev/null; then
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return 1
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fi
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return 0
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}
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release_host_lock() {
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if [[ "${HOST_LOCK_HELD}" != "1" ]]; then
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return
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fi
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rm -f "${HOST_LOCK_PID_FILE}" "${HOST_LOCK_CMD_FILE}"
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rmdir "${HOST_LOCK_DIR}" 2>/dev/null || rm -rf "${HOST_LOCK_DIR}"
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HOST_LOCK_HELD=0
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}
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acquire_host_lock() {
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local lock_label="$1"
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local notified=0
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mkdir -p "${HOST_ROOT}"
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while true; do
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if mkdir "${HOST_LOCK_DIR}" 2>/dev/null; then
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printf '%s\n' "$$" > "${HOST_LOCK_PID_FILE}"
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printf '%s\n' "${lock_label}" > "${HOST_LOCK_CMD_FILE}"
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HOST_LOCK_HELD=1
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trap release_host_lock EXIT
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return
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fi
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if lock_is_stale; then
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echo "Removing stale host runtime lock: $(lock_owner_summary)" >&2
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rm -rf "${HOST_LOCK_DIR}"
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continue
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fi
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if [[ "${notified}" == "0" ]]; then
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echo "Waiting for host runtime lock in ${HOST_ROOT}. Another shorthand command is using it: $(lock_owner_summary)." >&2
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notified=1
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fi
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sleep 1
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done
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}
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ensure_venv() {
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if [[ ! -x "${ROOT_DIR}/.venv/bin/python3" ]]; then
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echo "Missing .venv. Run tools/install_python_dependencies.sh first."
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exit 1
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fi
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if ! command -v uv >/dev/null 2>&1; then
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echo "Missing uv. Run tools/install_python_dependencies.sh first."
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exit 1
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fi
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}
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sync_selected_bucket() {
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local bucket="$1"
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set_host_bucket "${bucket}"
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acquire_host_lock "sync ${bucket}"
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sync_worktree
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echo "Host tool cache synced (${bucket}): ${WORK_DIR}"
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release_host_lock
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}
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sync_all_buckets() {
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local bucket=""
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for bucket in "${HOST_BUCKETS[@]}"; do
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sync_selected_bucket "${bucket}"
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done
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}
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purge_host_python_artifacts() {
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rm -f \
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"${WORK_DIR}/common/params_pyx.so" \
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"${WORK_DIR}/common/params_pyx.o" \
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"${WORK_DIR}/common/params_pyx.cpp" \
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"${WORK_DIR}/common/transformations/transformations.so" \
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"${WORK_DIR}/common/transformations/transformations.o" \
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"${WORK_DIR}/common/transformations/transformations.cpp" \
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"${WORK_DIR}/msgq_repo/msgq/ipc_pyx.so" \
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"${WORK_DIR}/msgq_repo/msgq/ipc_pyx.o" \
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"${WORK_DIR}/msgq_repo/msgq/ipc_pyx.cpp" \
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"${WORK_DIR}/msgq_repo/msgq/visionipc/visionipc_pyx.so" \
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"${WORK_DIR}/msgq_repo/msgq/visionipc/visionipc_pyx.o" \
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"${WORK_DIR}/msgq_repo/msgq/visionipc/visionipc_pyx.cpp"
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}
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ensure_host_python_tools() {
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ensure_venv
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local root_py_minor
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root_py_minor="$("${ROOT_DIR}/.venv/bin/python3" -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')"
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if [[ -x "${HOST_VENV}/bin/python3" ]]; then
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local host_py_minor
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host_py_minor="$("${HOST_VENV}/bin/python3" -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')"
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if [[ "${host_py_minor}" != "${root_py_minor}" ]]; then
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rm -rf "${HOST_VENV}"
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purge_host_python_artifacts
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fi
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fi
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if [[ -x "${HOST_VENV}/bin/scons" && -x "${HOST_VENV}/bin/cythonize" && -x "${HOST_VENV}/bin/python3" ]]; then
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return
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fi
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(
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cd "${WORK_DIR}"
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UV_PROJECT_ENVIRONMENT="${HOST_VENV}" UV_PYTHON="${ROOT_DIR}/.venv/bin/python3" uv sync --frozen --all-extras
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)
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}
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sync_worktree() {
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ensure_venv
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mkdir -p "${HOST_ROOT}"
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local excludes=(
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".git/"
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".venv/"
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".venv-linux-arm64/"
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".cache/"
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".comma_sysroot/"
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".host_runtime/"
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"__pycache__/"
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"*.pyc"
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"*.pyo"
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"*.o"
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"*.os"
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".sconsign.dblite"
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"compile_commands.json"
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"tools/plotjuggler/bin/"
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"tools/replay/replay"
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"tools/replay/tests/test_replay"
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"tools/cabana/cabana"
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"tools/cabana/tests/test_cabana"
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"selfdrive/ui/ui"
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"selfdrive/ui/ui.macos"
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"selfdrive/ui/ui.larch64"
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"cereal/libcereal.a"
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"cereal/libsocketmaster.a"
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"cereal/messaging/bridge"
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"common/libcommon.a"
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"common/params_pyx.so"
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"common/params_pyx.cpp"
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"common/transformations/libtransformations.a"
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"common/transformations/transformations.so"
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"msgq_repo/libmsgq.a"
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"msgq_repo/libvisionipc.a"
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"msgq_repo/msgq/ipc_pyx.so"
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"msgq_repo/msgq/visionipc/visionipc_pyx.so"
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"rednose_repo/rednose/helpers/ekf_sym_pyx.so"
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"selfdrive/modeld/models/commonmodel_pyx.so"
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"selfdrive/pandad/pandad_api_impl.so"
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"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
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"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so"
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"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
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"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"
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"third_party/libjson11.a"
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"third_party/libkaitai.a"
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)
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local rsync_args=(-a --delete)
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local pattern=""
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for pattern in "${excludes[@]}"; do
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rsync_args+=(--exclude "${pattern}")
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done
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rsync "${rsync_args[@]}" "${ROOT_DIR}/" "${WORK_DIR}/"
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rm -f "${WORK_DIR}/third_party/libjson11.a" "${WORK_DIR}/third_party/libkaitai.a"
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ensure_host_python_tools
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rm -rf "${WORK_DIR}/.venv"
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ln -s "${HOST_VENV}" "${WORK_DIR}/.venv"
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}
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setup_build_env() {
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if [[ -d /opt/homebrew/bin ]]; then
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export PATH="/opt/homebrew/bin:${PATH}"
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fi
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if [[ "$(uname -s)" == "Darwin" ]]; then
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export CC="/usr/bin/clang"
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export CXX="/usr/bin/clang++"
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fi
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unset CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH CPPFLAGS CFLAGS CXXFLAGS LDFLAGS
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}
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export_workdir_pythonpath() {
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export PYTHONPATH="${WORK_DIR}:${WORK_DIR}/frogpilot/third_party"
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local repo_dir=""
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for repo_dir in "${WORK_DIR}"/*_repo; do
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[[ -d "${repo_dir}" ]] && export PYTHONPATH="${PYTHONPATH}:${repo_dir}"
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done
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[[ -d "${WORK_DIR}/third_party/acados" ]] && export PYTHONPATH="${PYTHONPATH}:${WORK_DIR}/third_party/acados"
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}
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run_host_scons() {
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local jobs="$1"
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shift || true
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(
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cd "${WORK_DIR}"
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setup_build_env
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source .venv/bin/activate
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SP_DISABLE_AUTO_DEVICE_SCONS=1 "${WORK_DIR}/.venv/bin/scons" --extras -j"${jobs}" "$@"
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)
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}
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run_in_worktree() {
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(
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cd "${WORK_DIR}"
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setup_build_env
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"$@"
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)
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}
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run_python_tool() {
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local script_path="$1"
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shift || true
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||||
|
||||
(
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cd "${WORK_DIR}"
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setup_build_env
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export_workdir_pythonpath
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source .venv/bin/activate
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exec "${WORK_DIR}/.venv/bin/python3" "${WORK_DIR}/${script_path}" "$@"
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||||
)
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||||
}
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launch_c3() {
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local jobs
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jobs="$(default_jobs)"
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if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
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jobs="$1"
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shift || true
|
||||
fi
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||||
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sync_worktree
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run_in_worktree "${WORK_DIR}/scripts/launch_ui_desktop.sh" "${jobs}" "$@"
|
||||
}
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||||
|
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launch_c4() {
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||||
local jobs
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jobs="$(default_jobs)"
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||||
if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
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jobs="$1"
|
||||
shift || true
|
||||
fi
|
||||
|
||||
sync_worktree
|
||||
run_in_worktree "${WORK_DIR}/scripts/launch_ui_c4_desktop.sh" "${jobs}" "$@"
|
||||
}
|
||||
|
||||
launch_raybig() {
|
||||
local jobs
|
||||
jobs="$(default_jobs)"
|
||||
if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
|
||||
jobs="$1"
|
||||
shift || true
|
||||
fi
|
||||
|
||||
sync_worktree
|
||||
run_in_worktree "${WORK_DIR}/scripts/launch_ui_raybig_desktop.sh" "${jobs}" "$@"
|
||||
}
|
||||
|
||||
launch_replay() {
|
||||
local jobs
|
||||
jobs="$(default_jobs)"
|
||||
if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
|
||||
jobs="$1"
|
||||
shift || true
|
||||
fi
|
||||
|
||||
sync_worktree
|
||||
run_host_scons "${jobs}" tools/replay/replay
|
||||
|
||||
(
|
||||
cd "${WORK_DIR}"
|
||||
setup_build_env
|
||||
export BASEDIR="${WORK_DIR}"
|
||||
exec "${WORK_DIR}/tools/replay/replay" "$@"
|
||||
)
|
||||
}
|
||||
|
||||
launch_cabana() {
|
||||
local jobs
|
||||
jobs="$(default_jobs)"
|
||||
if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
|
||||
jobs="$1"
|
||||
shift || true
|
||||
fi
|
||||
|
||||
sync_worktree
|
||||
run_host_scons "${jobs}" tools/cabana/cabana
|
||||
|
||||
(
|
||||
cd "${WORK_DIR}"
|
||||
setup_build_env
|
||||
export BASEDIR="${WORK_DIR}"
|
||||
exec "${WORK_DIR}/tools/cabana/cabana" "$@"
|
||||
)
|
||||
}
|
||||
|
||||
launch_plotjuggler() {
|
||||
local jobs
|
||||
jobs="$(default_jobs)"
|
||||
if [[ "${1:-}" =~ ^[0-9]+$ ]]; then
|
||||
jobs="$1"
|
||||
shift || true
|
||||
fi
|
||||
|
||||
sync_worktree
|
||||
run_host_scons "${jobs}" \
|
||||
common/params_pyx.so \
|
||||
common/transformations/transformations.so \
|
||||
msgq_repo/msgq/ipc_pyx.so \
|
||||
msgq_repo/msgq/visionipc/visionipc_pyx.so
|
||||
run_python_tool "tools/plotjuggler/juggle.py" "$@"
|
||||
}
|
||||
|
||||
open_shell() {
|
||||
sync_worktree
|
||||
(
|
||||
cd "${WORK_DIR}"
|
||||
setup_build_env
|
||||
export_workdir_pythonpath
|
||||
source .venv/bin/activate
|
||||
exec "${SHELL:-/bin/bash}"
|
||||
)
|
||||
}
|
||||
|
||||
main() {
|
||||
local command="${1:-help}"
|
||||
local bucket=""
|
||||
if [[ $# -gt 0 ]]; then
|
||||
shift || true
|
||||
fi
|
||||
|
||||
case "${command}" in
|
||||
help|-h|--help)
|
||||
usage
|
||||
;;
|
||||
c3|c4|raybig|replay|shell)
|
||||
set_host_bucket "shared"
|
||||
acquire_host_lock "${command} $*"
|
||||
;;
|
||||
cabana)
|
||||
set_host_bucket "cabana"
|
||||
acquire_host_lock "${command} $*"
|
||||
;;
|
||||
plotjuggler|juggle)
|
||||
set_host_bucket "plotjuggler"
|
||||
acquire_host_lock "${command} $*"
|
||||
;;
|
||||
sync)
|
||||
if [[ $# -gt 0 ]]; then
|
||||
bucket="$(resolve_host_bucket "${1}")" || {
|
||||
echo "Unknown host bucket for sync: ${1}" >&2
|
||||
echo "Valid sync buckets: shared, cabana, plotjuggler" >&2
|
||||
exit 1
|
||||
}
|
||||
shift || true
|
||||
sync_selected_bucket "${bucket}"
|
||||
else
|
||||
sync_all_buckets
|
||||
fi
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
echo "Unknown command: ${command}" >&2
|
||||
echo >&2
|
||||
usage >&2
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
|
||||
case "${command}" in
|
||||
c3)
|
||||
launch_c3 "$@"
|
||||
;;
|
||||
c4)
|
||||
launch_c4 "$@"
|
||||
;;
|
||||
raybig)
|
||||
launch_raybig "$@"
|
||||
;;
|
||||
replay)
|
||||
launch_replay "$@"
|
||||
;;
|
||||
cabana)
|
||||
launch_cabana "$@"
|
||||
;;
|
||||
plotjuggler|juggle)
|
||||
launch_plotjuggler "$@"
|
||||
;;
|
||||
shell)
|
||||
open_shell
|
||||
;;
|
||||
esac
|
||||
}
|
||||
|
||||
set_host_bucket "shared"
|
||||
main "$@"
|
||||
Reference in New Issue
Block a user