os: add support for windows

.github/workflows/tests.yaml

@@ -76,6 +76,24 @@ 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
+        install: mingw-w64-clang-x86_64-git  # the README's first step, the setup installs the rest
+    - run: ./tools/op.sh setup
+    - name: Building openpilot
+      run: tools/op.sh build  # activates the venv: the msys2 shell puts its own python3 ahead of it
+    - name: Run the tool tests
+      timeout-minutes: 15
+      run: tools/op.sh test openpilot/common openpilot/cereal/messaging openpilot/tools/cabana openpilot/tools/jotpluggler openpilot/tools/lib openpilot/system/ui openpilot/test_native.py
   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
 
@@ -46,14 +48,18 @@ if external_pythonpath := os.environ.get("PYTHONPATH"):
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
+elif platform.system() == "Windows":
+  arch = "Windows"
 elif 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)
 ]
+WINDOWS = arch == "Windows"
 
 pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
@@ -65,13 +71,13 @@ 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,
@@ -88,12 +94,15 @@ acados_include_dirs = [
 allowed_system_libs = {
   "EGL", "GLESv2", "GL",
   "dl", "drm", "gbm", "m", "pthread",
+  "opengl32", "gdi32", "winmm", "shell32", "user32", "setupapi",  # Windows SDK import libraries
 }
+# 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"] 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'):
       f = File(os.path.join(p, f'lib{name}{ext}'))
       if f.exists() or f.has_builder():
         return name
@@ -114,11 +123,28 @@ def _libflags(target, source, env, for_signature):
         libs.append(_resolve_lib(env, lib))
     else:
       libs.append(lib)
+  libs += windows_link_libs
   return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
                     env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
 
+if WINDOWS:
+  # build commands run through MSYS2 bash: the SConscripts use POSIX shell syntax, the submodules' Environments too
+  import SCons.Platform.posix
+  import SCons.Platform.win32
+  _bash = shutil.which("bash")
+  if not _bash or "system32" in _bash.lower():  # System32's bash.exe is the WSL launcher
+    raise SCons.Errors.UserError("run scons from an MSYS2 CLANG64 shell")
+
+  def _bash_spawn(sh, escape, cmd, args, env):
+    args = [a if '"' in a else a.replace("\\", "/") for a in args]  # bash reads backslashes as escapes; quoted defines stay
+    return subprocess.call([_bash, "-c", " ".join(args)], env=env)
+  SCons.Platform.win32.spawn = _bash_spawn
+  SCons.Platform.win32.escape = SCons.Platform.posix.escape
+
 env = Environment(
   ENV={
+    # Windows processes need the system root (DLLs), a temp dir and ccache's cache dir
+    **({k: os.environ[k] for k in ("SYSTEMROOT", "TEMP", "TMP", "LOCALAPPDATA") if k in os.environ} if WINDOWS else {}),
     "PATH": os.environ['PATH'],
     "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
@@ -132,7 +158,7 @@ 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 +189,7 @@ 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 +199,14 @@ 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"] = ""
+  # static runtime: Python does not search PATH for the DLLs an extension module needs
+  env.Append(LINKFLAGS=["-static"])
 
 # Arch-specific flags and paths
 if arch == "comma_arm64":
@@ -190,6 +224,9 @@ elif arch == "Darwin":
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+elif arch == "Windows":
+  # strict -std=c++1z hides vasprintf and M_PI in mingw's headers; the vendored libzmq is a static archive
+  env.Append(CCFLAGS=["-D_GNU_SOURCE", "-D_USE_MATH_DEFINES", "-DZMQ_STATIC"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -224,6 +261,9 @@ 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["LIBS"] += [File(f"{sys.base_prefix}/libs/python{sys.version_info.major}{sys.version_info.minor}.lib")]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
@@ -233,7 +273,7 @@ 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')
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
@@ -287,9 +327,10 @@ SConscript([
   'openpilot/selfdrive/pandad/SConscript',
   'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
   'openpilot/selfdrive/locationd/SConscript',
-  'openpilot/selfdrive/modeld/SConscript',
   'openpilot/selfdrive/ui/SConscript',
 ])
+if arch != "Windows":  # modeld needs tinygrad's compiled model, Linux/macOS only
+  SConscript(['openpilot/selfdrive/modeld/SConscript'])
 
 # Build desktop-only tools
 if GetOption('extras') and arch != "comma_arm64":

openpilot/cereal/messaging/__init__.py

@@ -73,7 +73,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
 def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
+    'logMonoTime': int(time.perf_counter() * 1e9),
     **kwargs
   }
   dat = log.Event.new_message(**args)
@@ -240,7 +240,7 @@ def update(self, timeout: int = 100) -> None:
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(time.monotonic(), msgs)
+    self.update_msgs(time.perf_counter(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1

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)
@@ -54,7 +59,7 @@ def test_new_message(self, evt):
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert (time.perf_counter() - msg.logMonoTime) < 0.1
     assert not msg.valid
     assert evt == msg.which()
 
@@ -148,17 +153,17 @@ 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()
     p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
-    start_time = time.monotonic()
+    start_time = time.perf_counter()
     delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
+    assert (time.perf_counter() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -61,9 +61,9 @@ def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
     timeout = random.randrange(10, 30)
-    start_time = time.monotonic()
+    start_time = time.perf_counter()
     sm.update(timeout)
-    t = time.monotonic() - start_time
+    t = time.perf_counter() - start_time
     assert t >= timeout/1000.
     assert t < 0.1
     assert not any(sm.updated.values())

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/esim/lpa.py

@@ -2,15 +2,19 @@
 
 import atexit
 import base64
-import fcntl
 import hashlib
 import os
 import requests
 import subprocess
 import sys
-import termios
 import time
 
+if sys.platform == "win32":
+  fcntl = termios = None  # POSIX only; the device modem is unused on a Windows dev build
+else:
+  import fcntl
+  import termios
+
 from collections.abc import Callable, Generator
 from contextlib import contextmanager
 from typing import Any

openpilot/common/gpio.py

@@ -1,5 +1,4 @@
 import os
-import fcntl
 import ctypes
 from functools import cache
 
@@ -83,6 +82,8 @@ def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
   rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
   rq.label = label.encode('utf-8')[:31] + b'\0'
 
+  import fcntl  # POSIX only, keep the module importable on Windows
+
   fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
   fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
   os.close(fd)