Build and run openpilot natively on Windows for development (MSYS2 CLANG64)

.gitattributes

@@ -1,4 +1,4 @@
-* text=auto
+* text=auto eol=lf
 
 # to move existing files into LFS:
 # git add --renormalize .

.github/workflows/tests.yaml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - windows-dev  # --- FORK ONLY, NOT FOR UPSTREAM: CI on pushes to the fork's development branch ---
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -76,6 +77,30 @@ jobs:
     - name: Building openpilot
       run: scons
 
+  build_windows:
+    name: build Windows
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: msys2 {0}
+    steps:
+    - uses: actions/checkout@v7
+    - uses: msys2/setup-msys2@v2
+      with:
+        msystem: CLANG64
+        path-type: inherit  # Git for Windows and uv stay visible
+    - run: ./tools/op.sh setup
+    - name: Building openpilot
+      run: tools/op.sh build  # activates the venv first: the MSYS2 toolchain's own python3 shadows it in this shell
+    - name: Software OpenGL for the UI tests
+      # the runner's display driver has no OpenGL; Mesa's llvmpipe opengl32.dll next to the interpreter wins the DLL search
+      run: |
+        pacman -S --needed --noconfirm "$MINGW_PACKAGE_PREFIX-mesa"
+        source .venv/Scripts/activate
+        cp /clang64/bin/opengl32.dll "$(dirname "$(python -c 'import sys; print(sys._base_executable)')")"
+    - name: Run unit tests
+      timeout-minutes: 20
+      run: tools/op.sh test
   static_analysis:
     name: static analysis
     runs-on: ${{

.gitignore

@@ -39,6 +39,9 @@ bin/
 *.os-*
 *.so
 *.a
+*.dll
+*.pyd
+*.exe
 st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
 *.unchunked
 *.clb

.gitmodules

@@ -1,15 +1,19 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  # --- TODO REMOVE AFTER THE SUBMODULE PRS MERGE (commaai/panda#2427): the pinned commit is on the fork branch behind that PR ---
+  url = https://github.com/AmyJeanes/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  # --- TODO REMOVE AFTER THE SUBMODULE PRS MERGE (commaai/opendbc#3724): the pinned commit is on the fork branch behind that PR ---
+  url = https://github.com/AmyJeanes/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  # --- TODO REMOVE AFTER THE SUBMODULE PRS MERGE (commaai/msgq#709): the pinned commit is on the fork branch behind that PR ---
+  url = https://github.com/AmyJeanes/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  # --- TODO REMOVE AFTER THE SUBMODULE PRS MERGE (commaai/rednose#61): the pinned commit is on the fork branch behind that PR ---
+  url = https://github.com/AmyJeanes/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc

SConstruct

@@ -4,6 +4,8 @@ import sys
 import sysconfig
 import platform
 import shlex
+import shutil
+import tempfile
 import importlib
 import numpy as np
 
@@ -43,16 +45,21 @@ if external_pythonpath := os.environ.get("PYTHONPATH"):
   submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
 
 # Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+WINDOWS = platform.system() == "Windows"
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and COMMA_HARDWARE:
-  arch = "comma_arm64"
+elif WINDOWS:
+  arch = "Windows"
+else:
+  arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+  if arch == "aarch64" and COMMA_HARDWARE:
+    arch = "comma_arm64"
 assert arch in [
   "comma_arm64",  # linux comma hardware (AGNOS) arm64
   "aarch64",      # linux pc arm64
   "x86_64",       # linux pc x64
   "Darwin",       # macOS arm64 (x86 not supported)
+  "Windows",      # windows pc x64, development only (MSYS2 clang64 toolchain)
 ]
 
 pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
@@ -65,13 +72,13 @@ ffmpeg = pkgs[pkg_names.index('ffmpeg')]
 # TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
 _ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
 ffmpeg_shared = any(
-  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith(('.dylib', '.dll.a')))
   for n in _ffmpeg_lib_names
 )
 ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
 if not ffmpeg_shared:
   ffmpeg_libs += ['x264', 'z']
-  if arch != "Darwin":
+  if arch not in ("Darwin", "Windows"):
     ffmpeg_libs += ['va', 'va-drm', 'drm']
 acados_include_dirs = [
   acados.INCLUDE_DIR,
@@ -88,15 +95,22 @@ acados_include_dirs = [
 allowed_system_libs = {
   "EGL", "GLESv2", "GL",
   "dl", "drm", "gbm", "m", "pthread",
+  # Windows SDK import libraries
+  "opengl32", "gdi32", "winmm", "shell32", "user32", "advapi32", "ws2_32", "bcrypt", "ole32", "setupapi", "shlwapi", "dwmapi", "ntdll",
+  "iphlpapi", "rpcrt4",
 }
+# static libzmq/capnp need these on every Windows link; import libs only pull in what is referenced
+windows_link_libs = ["pthread", "ws2_32", "iphlpapi", "rpcrt4", "bcrypt", "advapi32", "ole32", "user32", "shell32"] if WINDOWS else []
 
 def _resolve_lib(env, name):
   for d in env.Flatten(env.get('LIBPATH', [])):
     p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
+    for ext in ('.a', '.so', '.dylib', '.dll.a', '.lib'):
       f = File(os.path.join(p, f'lib{name}{ext}'))
       if f.exists() or f.has_builder():
         return name
+    if WINDOWS and File(os.path.join(p, f'{name}.lib')).exists():  # MSVC-style import library, e.g. python312.lib
+      return name
   if name in allowed_system_libs:
     return name
   raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
@@ -114,11 +128,39 @@ def _libflags(target, source, env, for_signature):
         libs.append(_resolve_lib(env, lib))
     else:
       libs.append(lib)
+  libs += [_resolve_lib(env, lib) for lib in windows_link_libs]
   return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
                     env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
 
+if WINDOWS:
+  # Run every build command through MSYS2 bash so the POSIX shell syntax used by the
+  # SConscripts (cd x && ..., VAR=1 ./script.py, shebang scripts) keeps working. This
+  # replaces the platform spawn so it also covers Environments created by submodules.
+  # bash must be resolved via PATH: CreateProcess searches System32 first, which
+  # would pick the WSL launcher.
+  import SCons.Platform.posix
+  import SCons.Platform.win32
+  _bash = shutil.which("bash")
+  if not _bash or "system32" in _bash.lower():
+    raise SCons.Errors.UserError("MSYS2 bash must be on PATH before System32 (run scons from an MSYS2 CLANG64 shell)")
+
+  def _bash_spawn(sh, escape, cmd, args, env):
+    # bash treats backslashes as escapes, so hand it SCons' Windows paths with forward
+    # slashes. Arguments carrying quotes (defines such as -DSWAGLOG="\"...\"") are kept as is.
+    args = [a if '"' in a else a.replace("\\", "/") for a in args]
+    return subprocess.call([_bash, "-c", " ".join(args)], env=env)
+  SCons.Platform.win32.spawn = _bash_spawn
+  SCons.Platform.win32.escape = SCons.Platform.posix.escape
+
+# Windows child processes need the system variables cmd/python rely on; POSIX builds keep the strict env
+_windows_env = {k: os.environ[k] for k in (
+  "SYSTEMROOT", "SYSTEMDRIVE", "COMSPEC", "PATHEXT", "TEMP", "TMP", "USERPROFILE", "HOMEDRIVE", "HOMEPATH", "HOME",
+  "APPDATA", "LOCALAPPDATA", "USERNAME", "NUMBER_OF_PROCESSORS", "PROCESSOR_ARCHITECTURE", "MSYSTEM", "MSYSTEM_PREFIX", "VIRTUAL_ENV",
+) if k in os.environ} if WINDOWS else {}
+
 env = Environment(
   ENV={
+    **_windows_env,
     "PATH": os.environ['PATH'],
     "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
@@ -132,7 +174,7 @@ env = Environment(
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64", "Windows") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -163,7 +205,7 @@ env = Environment(
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#rednose_repo",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  tools=["mingw" if WINDOWS else "default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 # SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
@@ -173,6 +215,20 @@ if arch == "Darwin":
   env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
 if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
+if WINDOWS:
+  # clang and lld through the mingw tool, whose defaults are gcc; shared libraries keep the lib prefix the SConscripts expect
+  env["CC"], env["CXX"] = "clang", "clang++"
+  env["SHLIBPREFIX"] = "lib"
+  # PE has no rpath; DLLs are found next to the executable or via PATH
+  env["_RPATH"] = ""
+  # Self-contained binaries: Python 3.8+ does not search PATH for the DLLs an extension
+  # module needs, so the libc++/winpthreads runtime must not be dynamic
+  env.Append(LINKFLAGS=["-static"])
+
+  # uv venvs on Windows only ship python.exe, but scripts and shebangs here expect python3
+  _python3 = os.path.join(os.path.dirname(sys.executable), "python3.exe")
+  if not os.path.exists(_python3):
+    shutil.copy2(sys.executable, _python3)
 
 # Arch-specific flags and paths
 if arch == "comma_arm64":
@@ -190,6 +246,10 @@ elif arch == "Darwin":
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+elif arch == "Windows":
+  # -std=c++1z is strict ANSI; mingw then hides vasprintf, M_PI and friends without these
+  # ZMQ_STATIC: the vendored libzmq is a static archive, without it zmq.h asks for DLL imports
+  env.Append(CCFLAGS=["-D_GNU_SOURCE", "-D_USE_MATH_DEFINES", "-DZMQ_STATIC"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -217,13 +277,18 @@ if not GetOption('verbose'):
 
 # ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+# in a Windows venv sysconfig points at the (empty) venv Include dir, headers live with the base interpreter
+envCython["CPPPATH"] += [sysconfig.get_paths(vars={"installed_base": sys.base_prefix})['include'], np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
   envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "Windows":
+  envCython["LINKFLAGS"] = ["-shared", "-static"]
+  envCython["LIBPATH"] += [os.path.join(sys.base_prefix, "libs")]
+  envCython["LIBS"] += [f"python{sys.version_info.major}{sys.version_info.minor}"]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
@@ -233,7 +298,7 @@ Export('envCython', 'np_version')
 Export('env', 'arch', 'acados', 'ffmpeg_libs')
 
 # Setup cache dir
-cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
+cache_dir = '/data/scons_cache' if arch == "comma_arm64" else os.path.join(tempfile.gettempdir(), 'scons_cache') if WINDOWS else '/tmp/scons_cache'
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)

openpilot/__init__.py

@@ -0,0 +1,8 @@
+import sys
+import time
+
+if sys.platform == "win32" and sys.version_info < (3, 13):
+  # the GetTickCount64 based clock only ticks every 15.6 ms; Python 3.13 moved monotonic to QueryPerformanceCounter
+  # TODO: drop when the Python pin reaches 3.13
+  setattr(time, "monotonic", time.perf_counter)  # noqa: B010 (a plain assignment is a type error for ty on Windows)
+  setattr(time, "monotonic_ns", time.perf_counter_ns)  # noqa: B010

openpilot/cereal/messaging/tests/test_messaging.py

@@ -41,6 +41,11 @@ def assert_carstate(cs1, cs2):
     if isinstance(val1, numbers.Number):
       assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
 
+def recv_one_retry_process(sock, timeout):
+  # module level: Windows spawns the process, and a socket cannot be pickled into it
+  messaging.recv_one_retry(messaging.sub_sock(sock, timeout=round(timeout * 1000)))
+
+
 def delayed_send(delay, sock, dat):
   def send_func():
     sock.send(dat)
@@ -148,7 +153,7 @@ def test_recv_one_retry(self):
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
 
     # wait 5 socket timeouts and make sure it's still retrying
-    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    p = multiprocessing.Process(target=recv_one_retry_process, args=(sock, sock_timeout))
     p.start()
     time.sleep(sock_timeout*5)
     assert p.is_alive()

openpilot/cereal/messaging/tests/test_services.py

@@ -17,6 +17,7 @@ def test_services(self, s):
     assert service.decimation != 0
 
   def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
+    with tempfile.NamedTemporaryFile(suffix=".h", delete_on_close=False) as f:
+      f.close()  # Windows: other processes cannot open the file while it is open here
       ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
       assert ret == 0, "generated services header is not valid C"

openpilot/common/SConscript

@@ -2,6 +2,7 @@ Import('env')
 
 common_libs = [
   'params.cc',
+  'prefix.cc',
   'swaglog.cc',
   'util.cc',
   'ratekeeper.cc',

openpilot/common/file.h

@@ -0,0 +1,14 @@
+#pragma once
+
+// File primitives whose POSIX spelling differs on Windows. Kept apart from util.h: that header's Rect collides with
+// the one MacTypes.h brings in when a translation unit also includes CoreFoundation on macOS (cabana's settings).
+#ifdef _WIN32
+#include <io.h>
+inline int fsync(int fd) { return _commit(fd); }
+#endif
+
+namespace util {
+// an exclusive lock held until fd closes, and a rename that replaces an existing target (rename() refuses to on Windows)
+int lock_file_exclusive(int fd);
+int replace_file(const char *from, const char *to);
+}  // namespace util

openpilot/common/gpio.py

@@ -1,6 +1,9 @@
 import os
-import fcntl
 import ctypes
+try:
+  import fcntl
+except ImportError:  # Windows: only importable there, the ioctls need comma hardware
+  fcntl = None
 from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None: