Merge bdfecd5945 into 03e9777c3f
workinright
2 days ago
committed by
GitHub
commit
9da4ae8736
13 changed files with 247 additions and 162 deletions
@ -1,12 +0,0 @@ |
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FROM ghcr.io/commaai/openpilot-base:latest |
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ENV PYTHONUNBUFFERED=1 |
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ENV OPENPILOT_PATH=/home/batman/openpilot |
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RUN mkdir -p ${OPENPILOT_PATH} |
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WORKDIR ${OPENPILOT_PATH} |
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COPY . ${OPENPILOT_PATH}/ |
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RUN scons --cache-readonly -j$(nproc) |
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@ -1,81 +0,0 @@ |
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FROM ubuntu:24.04 |
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ENV PYTHONUNBUFFERED=1 |
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ENV DEBIAN_FRONTEND=noninteractive |
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RUN apt-get update && \ |
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apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \ |
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rm -rf /var/lib/apt/lists/* |
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RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen |
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ENV LANG=en_US.UTF-8 |
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ENV LANGUAGE=en_US:en |
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ENV LC_ALL=en_US.UTF-8 |
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COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ |
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RUN /tmp/tools/install_ubuntu_dependencies.sh && \ |
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rm -rf /var/lib/apt/lists/* /tmp/* && \ |
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cd /usr/lib/gcc/arm-none-eabi/* && \ |
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rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp |
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# Add OpenCL |
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RUN apt-get update && apt-get install -y --no-install-recommends \ |
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apt-utils \ |
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alien \ |
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unzip \ |
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tar \ |
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curl \ |
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xz-utils \ |
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dbus \ |
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gcc-arm-none-eabi \ |
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tmux \ |
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vim \ |
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libx11-6 \ |
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wget \ |
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&& rm -rf /var/lib/apt/lists/* |
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RUN mkdir -p /tmp/opencl-driver-intel && \ |
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cd /tmp/opencl-driver-intel && \ |
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wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ |
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wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ |
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mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ |
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cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ |
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tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ |
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mkdir -p /etc/OpenCL/vendors && \ |
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echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ |
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cd /opt/intel && \ |
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tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ |
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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 && \ |
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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 && \ |
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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 && \ |
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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 && \ |
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mkdir -p /etc/ld.so.conf.d && \ |
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echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ |
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ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ |
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cd / && \ |
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rm -rf /tmp/opencl-driver-intel |
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ENV NVIDIA_VISIBLE_DEVICES=all |
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ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute |
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ENV QTWEBENGINE_DISABLE_SANDBOX=1 |
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RUN dbus-uuidgen > /etc/machine-id |
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ARG USER=batman |
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ARG USER_UID=1001 |
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RUN useradd -m -s /bin/bash -u $USER_UID $USER |
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RUN usermod -aG sudo $USER |
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RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers |
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USER $USER |
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COPY --chown=$USER pyproject.toml uv.lock /home/$USER |
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COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/ |
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ENV VIRTUAL_ENV=/home/$USER/.venv |
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ENV PATH="$VIRTUAL_ENV/bin:$PATH" |
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RUN cd /home/$USER && \ |
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tools/install_python_dependencies.sh && \ |
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rm -rf tools/ pyproject.toml uv.lock .cache |
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USER root |
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RUN sudo git config --global --add safe.directory /tmp/openpilot |
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@ -0,0 +1,104 @@ |
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#!/usr/bin/env bash |
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set -e |
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ORG_PWD="$PWD" |
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SELF_PATH="$(realpath $0)" |
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SCRIPT_DIR="$(dirname "$SELF_PATH")" |
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REPO="$HOME/work/openpilot/openpilot" |
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CACHE_ROOTFS_TARBALL_PATH="/tmp/rootfs_cache.tar" |
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source "$SCRIPT_DIR/build_common.sh" |
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# if the rootfs diff tarball (also created by this script) got restored from the CI native cache |
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if [ -f "$CACHE_ROOTFS_TARBALL_PATH" ] |
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then |
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# apply it, upgrading the rootfs |
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echo "restoring rootfs from the native build cache" |
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apply_rootfs_diff |
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rm "$CACHE_ROOTFS_TARBALL_PATH" |
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# before the next tasks are run, finalize the environment for them |
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prepare_build |
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# EXITS HERE - if the rootfs could been prepared entirely from the cache, there's no need for any further action like re-building |
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exit 0 |
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else |
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# otherwise, we'll have to install everything from scratch and build the tarball to be available for the next run |
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if ! [ -f /root_committed ] |
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then |
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echo "no native build cache entry restored, rebuilding" |
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fi |
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fi |
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# in order to be able to build a diff rootfs tarball, we need to commit its initial state |
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# by moving it on-the-fly to overlayfs; below, we prepare the system and the new rootfs itself |
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commit_root |
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# -------- 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 -------- |
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# install and set up the native dependencies needed |
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PYTHONUNBUFFERED=1 |
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DEBIAN_FRONTEND=noninteractive |
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mkdir -p /tmp/tools |
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cp "$REPO/tools/install_ubuntu_dependencies.sh" /tmp/tools/ |
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sudo /tmp/tools/install_ubuntu_dependencies.sh |
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sudo apt-get install -y --no-install-recommends \ |
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sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev \ |
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apt-utils alien unzip tar curl xz-utils dbus gcc-arm-none-eabi tmux vim libx11-6 wget |
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sudo rm -rf /var/lib/apt/lists/* |
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sudo apt-get clean |
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cd /usr/lib/gcc/arm-none-eabi/* |
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sudo rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp |
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cd |
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sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen |
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sudo locale-gen |
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LANG=en_US.UTF-8 |
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LANGUAGE=en_US:en |
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LC_ALL=en_US.UTF-8 |
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mkdir -p /tmp/opencl-driver-intel |
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cd /tmp/opencl-driver-intel |
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wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz &>/dev/null |
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wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz &>/dev/null |
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sudo mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel |
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cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel |
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sudo tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz |
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sudo mkdir -p /etc/OpenCL/vendors |
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sudo bash -c "echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd" |
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cd /opt/intel |
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sudo tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz |
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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 |
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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 |
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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 |
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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 |
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sudo mkdir -p /etc/ld.so.conf.d |
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sudo bash -c "echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf" |
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sudo ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf |
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rm -rf /tmp/opencl-driver-intel |
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cd |
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sudo bash -c "dbus-uuidgen > /etc/machine-id" |
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NVIDIA_VISIBLE_DEVICES=all |
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NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute |
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QTWEBENGINE_DISABLE_SANDBOX=1 |
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# install and set up the Python dependencies needed |
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cp "$REPO/pyproject.toml" "$REPO/uv.lock" "$HOME/" |
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mkdir "$HOME/tools" |
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cp "$REPO/tools/install_python_dependencies.sh" "$HOME/tools/" |
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VIRTUAL_ENV=/home/$USER/.venv |
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PATH="$VIRTUAL_ENV/bin:$PATH" |
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cd |
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tools/install_python_dependencies.sh |
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rm -rf tools/ pyproject.toml uv.lock .cache |
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# add a git safe directory for compiling openpilot |
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sudo git config --global --add safe.directory /tmp/openpilot |
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@ -0,0 +1,113 @@ |
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error_handler() { |
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echo failed at ${BASH_LINENO[0]} |
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} |
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trap error_handler ERR |
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create_rootfs_diff() { |
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sudo rm -f "$CACHE_ROOTFS_TARBALL_PATH" # remove the old diff tarball from previous run, if exists |
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cd /upper |
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sudo tar -cf "$CACHE_ROOTFS_TARBALL_PATH" . |
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cd |
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} |
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apply_rootfs_diff() { |
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cd / |
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sudo tar -xf "$CACHE_ROOTFS_TARBALL_PATH" 2>/dev/null || true |
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cd |
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} |
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prepare_build() { |
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# create and mount the required volumes where they're expected |
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mkdir -p /tmp/openpilot /tmp/scons_cache /tmp/comma_download_cache /tmp/openpilot_cache |
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sudo mount --bind "$REPO" /tmp/openpilot |
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sudo mount --bind "$REPO/.ci_cache/scons_cache" /tmp/scons_cache || true |
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sudo mount --bind "$REPO/.ci_cache/comma_download_cache" /tmp/comma_download_cache || true |
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sudo mount --bind "$REPO/.ci_cache/openpilot_cache" /tmp/openpilot_cache || true |
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# needed for the unit tests not to fail |
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sudo chmod 755 /sys/fs/pstore |
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} |
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post_commit_root() { |
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# we have the diff tarball, now let's remove the folder too |
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sudo rm -rf /upper |
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# now we apply it straight away |
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apply_rootfs_diff |
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# before the next tasks are run, finalize the environment for them |
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prepare_build |
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} |
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# warning: this function initiates a somewhat complicated program flow, follow carefully |
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# (even despite this part was made sure to not be too relevant for the rest of the job) |
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commit_root() { |
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# if that's a first execution |
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if ! [ -e /root_committed ] |
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then |
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# prepare directories |
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sudo mkdir -p /base /newroot /upper /work |
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# re-execute the main script (causing it to go straight to `build_inside_namespace`), but |
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# inside the newly created namespace, in a way which would cause all mounts |
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# created to automatically umount before it exits |
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sudo unshare -f --kill-child -m "$SELF_PATH" build_inside_namespace |
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ec=$? |
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# after it exited, remove the created directories (except the one containing created diff) |
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sudo rm -rf /base /newroot /work |
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# finally, create the rootfs diff tarball (to be pushed into the CI native cache) |
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create_rootfs_diff |
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# after creating the rootfs diff, bring the system into a state as if it was restored from cache |
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post_commit_root |
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exit $ec |
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fi |
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} |
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reexecute() { |
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touch /root_committed |
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sudo -u runner "$SELF_PATH" |
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ec=$? |
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exit $ec |
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} |
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# that's where the script goes after being re-executed for the first time |
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build_inside_namespace() { |
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# initialize the mounts namespace on overlayfs to be able to prepare the rootfs diff |
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mount --bind / /base |
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mount -t overlay overlay -o lowerdir=/base,upperdir=/upper,workdir=/work /newroot |
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# apply the current DNS config (beware: systemd often symlinks /etc/resolv.conf, that's why it's needed) |
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rm -f /newroot/etc/resolv.conf |
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touch /newroot/etc/resolv.conf |
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cat /etc/resolv.conf > /newroot/etc/resolv.conf |
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# switch the namespace's root mount to the newly created one |
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mkdir -p /newroot/old |
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cd /newroot |
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pivot_root . old |
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# initialize basic required POSIX-standard additional mounts |
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mount -t proc proc /proc |
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mount -t devtmpfs devtmpfs /dev |
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mkdir -p /dev/pts |
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mount -t devpts devpts /dev/pts |
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mount -t proc proc /proc |
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mount -t sysfs sysfs /sys |
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# re-execute the main script for the 2nd time, causing it to go back to the main flow |
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# (but this time already inside the newly created namespace) |
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reexecute |
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# after the main flow terminates and the namespace exist, post_commit_root is executed - be sure to look at it |
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} |
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if [ "$1" = "build_inside_namespace" ] |
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then |
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build_inside_namespace |
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exit |
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fi |
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@ -1,26 +0,0 @@ |
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#!/usr/bin/env bash |
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set -e |
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# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: |
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# mkdir -p .ci_cache/scons_cache |
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# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache |
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SCRIPT_DIR=$(dirname "$0") |
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OPENPILOT_DIR=$SCRIPT_DIR/../../ |
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if [ -n "$TARGET_ARCHITECTURE" ]; then |
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PLATFORM="linux/$TARGET_ARCHITECTURE" |
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TAG_SUFFIX="-$TARGET_ARCHITECTURE" |
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else |
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PLATFORM="linux/$(uname -m)" |
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TAG_SUFFIX="" |
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fi |
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source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" |
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DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR |
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if [ -n "$PUSH_IMAGE" ]; then |
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docker push $REMOTE_TAG |
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docker tag $REMOTE_TAG $REMOTE_SHA_TAG |
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docker push $REMOTE_SHA_TAG |
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fi |
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@ -1,18 +0,0 @@ |
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if [ "$1" = "base" ]; then |
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export DOCKER_IMAGE=openpilot-base |
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export DOCKER_FILE=Dockerfile.openpilot_base |
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elif [ "$1" = "prebuilt" ]; then |
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export DOCKER_IMAGE=openpilot-prebuilt |
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export DOCKER_FILE=Dockerfile.openpilot |
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else |
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echo "Invalid docker build image: '$1'" |
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exit 1 |
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fi |
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export DOCKER_REGISTRY=ghcr.io/commaai |
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export COMMIT_SHA=$(git rev-parse HEAD) |
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TAG_SUFFIX=$2 |
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LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX |
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REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG |
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REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA |
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