#!/usr/bin/env bash
#set -e
trap restore_root ERR
ORG_PWD = " $PWD "
REPO = " $HOME /work/openpilot/openpilot "
CACHE_ROOTFS_TARBALL_PATH = "/tmp/rootfs_cache.tar"
unpack_rootfs_tarball( ) {
cd /
sudo tar -xf " $CACHE_ROOTFS_TARBALL_PATH " 2>/dev/null || true
cd
}
commit_root( ) {
sudo mkdir -p /base /newroot /upper /work
sudo unshare -f --kill-child -m $ORG_PWD /selfdrive/test/build.sh build_inside_namespace
ec = $?
echo "end of ns"
sudo rm -rf /base /newroot /work
mkdir -p /tmp/rootfs_cache
sudo rm -f " $CACHE_ROOTFS_TARBALL_PATH " # remove the old tarball from previous run, if exists
cd /upper
sudo tar -cf " $CACHE_ROOTFS_TARBALL_PATH " .
cd
sudo rm -rf /upper
unpack_rootfs_tarball
prepare_mounts
exit $ec
}
prepare_mounts( ) {
# create and mount the required volumes where they're expected
mkdir -p /tmp/openpilot /tmp/scons_cache /tmp/comma_download_cache /tmp/openpilot_cache
sudo mount --bind " $REPO " /tmp/openpilot
sudo mount --bind " $REPO /.ci_cache/scons_cache " /tmp/scons_cache || true
sudo mount --bind " $REPO /.ci_cache/comma_download_cache " /tmp/comma_download_cache || true
sudo mount --bind " $REPO /.ci_cache/openpilot_cache " /tmp/openpilot_cache || true
# needed for the unit tests not to fail
sudo chmod 755 /sys/fs/pstore
}
restore_root( ) {
echo failed at ${ BASH_LINENO [0] }
}
build_inside_namespace( ) {
mount --bind / /base
mount -t overlay overlay -o lowerdir = /base,upperdir= /upper,workdir= /work /newroot
rm -f /newroot/etc/resolv.conf
touch /newroot/etc/resolv.conf
cat /etc/resolv.conf > /newroot/etc/resolv.conf
mkdir -p /newroot/old
cd /newroot
pivot_root . old
mount -t proc proc /proc
mount -t devtmpfs devtmpfs /dev
mkdir -p /dev/pts
mount -t devpts devpts /dev/pts
mount -t proc proc /proc
mount -t sysfs sysfs /sys
touch /root_committed
sudo -u runner /home/runner/work/openpilot/openpilot/selfdrive/test/build.sh
ec = $?
exit $ec
}
if [ " $1 " = "build_inside_namespace" ]
then
build_inside_namespace
exit
fi
if [ -f " $CACHE_ROOTFS_TARBALL_PATH " ]
then
# if the rootfs diff tarball (also created by this script) got restored from the CI native cache, unpack it, upgrading the rootfs
echo "restoring rootfs from the native build cache"
unpack_rootfs_tarball
rm " $CACHE_ROOTFS_TARBALL_PATH "
# before the next tasks are run, finalize the environment for them
prepare_mounts
# EXITS HERE - if the rootfs could been prepared entirely from the cache, there's no need for any further action like re-building
exit 0
else
# otherwise, we'll have to install everything from scratch and build the tarball to be available for the next run
echo "no native build cache entry restored, rebuilding"
fi
# in order to be able to build a diff rootfs tarball, we need to commit its initial state by moving it on-the-fly to overlayfs;
# below, we prepare the system and the new rootfs itself
if ! [ -e /root_committed ]
then
commit_root
fi
# -------- at this point, the original rootfs was committed and all the changes to it done below will be saved to the newly created rootfs diff tarball --------
# install and set up the native dependencies needed
PYTHONUNBUFFERED = 1
DEBIAN_FRONTEND = noninteractive
mkdir -p /tmp/tools
cp " $REPO /tools/install_ubuntu_dependencies.sh " /tmp/tools/
sudo /tmp/tools/install_ubuntu_dependencies.sh & >/dev/null
sudo apt-get install -y --no-install-recommends \
sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev \
apt-utils alien unzip tar curl xz-utils dbus gcc-arm-none-eabi tmux vim libx11-6 wget & >/dev/null
sudo rm -rf /var/lib/apt/lists/*
sudo apt-get clean
cd /usr/lib/gcc/arm-none-eabi/*
sudo rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
cd
sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen
sudo locale-gen
LANG = en_US.UTF-8
LANGUAGE = en_US:en
LC_ALL = en_US.UTF-8
mkdir -p /tmp/opencl-driver-intel
cd /tmp/opencl-driver-intel
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz & >/dev/null
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz & >/dev/null
sudo mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel
sudo tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz
sudo mkdir -p /etc/OpenCL/vendors
sudo bash -c "echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd"
cd /opt/intel
sudo tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz
sudo ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64
sudo ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64
sudo ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64
sudo ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64
sudo mkdir -p /etc/ld.so.conf.d
sudo bash -c "echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf"
sudo ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf
cd /
rm -rf /tmp/opencl-driver-intel
cd
sudo bash -c "dbus-uuidgen > /etc/machine-id"
NVIDIA_VISIBLE_DEVICES = all
NVIDIA_DRIVER_CAPABILITIES = graphics,utility,compute
QTWEBENGINE_DISABLE_SANDBOX = 1
# install and set up the Python dependencies needed
sudo cp "/home/runner/work/openpilot/openpilot/pyproject.toml" "/home/runner/work/openpilot/openpilot/uv.lock" "/home/runner/work/openpilot/openpilot/tools/install_python_dependencies.sh" \
/home/runner/
cd
rm -rf .venv
mkdir aaa
cd aaa
../install_python_dependencies.sh
cd
rm pyproject.toml uv.lock install_python_dependencies.sh
# add a git safe directory for compiling openpilot
sudo git config --global --add safe.directory /tmp/openpilot
# finally, create the rootfs diff tarball (to be pushed into the CI native cache)
# before the next tasks are run, finalize the environment for them
#prepare_mounts
