StarPilot

2026-03-12 01:49:47 -05:00
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+# Laptop Device Build (Mac/Linux)
+
+This flow builds **device-target (`larch64`) binaries on your laptop** using a Linux/aarch64 container and a synced comma sysroot.
+
+## Prerequisites
+
+- Docker Desktop (or Podman) with Linux/aarch64 support.
+- `rsync` and `ssh` on your laptop.
+- Either:
+  - access to a comma device over SSH, or
+  - internet access to download AGNOS system image for sysroot extraction.
+
+## One-time setup
+
+Fast path (no physical comma):
+
+```bash
+cd /path/to/frogpilot
+scripts/laptop_device_build.sh setup
+```
+
+Equivalent wrapper:
+
+```bash
+scripts/starpilot_build_flow.sh laptop-setup
+```
+
+### Option A: no physical comma (AGNOS-based)
+
+```bash
+cd /path/to/frogpilot
+scripts/laptop_device_build.sh build-image
+scripts/laptop_device_build.sh setup-sysroot-agnos
+```
+
+### Option B: copy sysroot from a comma device
+
+```bash
+cd /path/to/frogpilot
+scripts/laptop_device_build.sh setup-sysroot <device-ip> comma 22
+scripts/laptop_device_build.sh build-image
+```
+
+Optional all-in-one with physical device sysroot:
+
+```bash
+scripts/laptop_device_build.sh setup <device-ip> comma 22
+```
+
+## Build device-compatible artifacts
+
+```bash
+cd /path/to/frogpilot
+scripts/laptop_device_build.sh build
+```
+
+Equivalent wrapper:
+
+```bash
+scripts/starpilot_build_flow.sh laptop-device
+```
+
+This runs:
+
+- `uv sync` into `/work/.venv-linux-arm64` (inside container)
+- full `scons` with:
+  - `SP_FORCE_ARCH=larch64`
+  - `SP_FORCE_TICI=1`
+  - `SP_TICI_SYSROOT=/opt/tici-sysroot`
+- `touch prebuilt`
+
+To run `scons` targets explicitly in the same device-compatible environment:
+
+```bash
+scripts/laptop_device_build.sh scons selfdrive/ui/ui
+```
+
+On macOS, once `.comma_sysroot` is present, plain `scons ...` auto-routes to this containerized device build.
+Set `SP_DISABLE_AUTO_DEVICE_SCONS=1` to force native host `scons`.
+
+## Quick checks
+
+```bash
+scripts/laptop_device_build.sh doctor
+```
+
+If `doctor` fails, fix the missing runtime/sysroot step before running `build`.
+
+## One-command manager launch on desktop
+
+`./launch_openpilot.sh` now auto-routes desktop/mac launches to the containerized larch64 manager path:
+
+- runs `scripts/laptop_device_build.sh doctor`
+- runs `setup` automatically if prerequisites are missing
+- runs container manager launch, auto-building missing runtime artifacts first
+
+Useful overrides:
+
+- `SP_SKIP_DOCKER_AUTO_BUILD=1 ./launch_openpilot.sh` to skip auto-build.
+- `SP_DOCKER_BUILD_JOBS=12 ./launch_openpilot.sh` to control build parallelism.
+- `SP_FORCE_DEVICE_LAUNCH=1 ./launch_openpilot.sh` to force legacy device launch path.
+
+Note:
+
+- `manager` mode requires the container runtime machine to be `aarch64`.
+- If your built image runs as `x86_64`, build mode still works for artifact generation, but manager launch in-container is not supported.
+
+Desktop UI workaround (keep device build + still inspect UI on macOS):
+
+```bash
+scripts/launch_ui_desktop.sh
+```
+
+This builds a native macOS `selfdrive/ui/ui.macos`, restores device `selfdrive/ui/ui`, and launches the mac UI binary.
+
+Desktop C4/raylib UI launcher:
+
+```bash
+scripts/launch_ui_c4_desktop.sh
+```
+
+This launches `selfdrive/ui/ui.py` in small-UI mode (`BIG=0`) with onboarding pre-accepted params.