tools: hot.sh

.gitignore

@@ -1,5 +1,6 @@
 venv/
 .venv/
+__pycache__/
 .ci_cache
 .env
 .clang-format

tools/install_ubuntu_dependencies.sh

@@ -32,6 +32,7 @@ function install_ubuntu_common_requirements() {
     locales \
     git \
     git-lfs \
+    fswatch \
     xvfb
 
   # TODO: vendor the rest of these in third_party/

tools/mac_setup.sh

@@ -48,6 +48,7 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
+brew "fswatch"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"

tools/op.sh

@@ -19,6 +19,10 @@ RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
+
+OP_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+source "$OP_DIR/scripts/lib/common.sh"
+
 function op_install() {
   echo "Installing op system-wide..."
   CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
@@ -52,22 +56,7 @@ function op_run_command() {
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_get_openpilot_dir() {
-  # First try traversing up the directory tree
-  while [[ "$OPENPILOT_ROOT" != '/' ]];
-  do
-    if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
-      return 0
-    fi
-    OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
-  done
-
-  # Fallback to hardcoded directories if not found
-  for dir in "$HOME/openpilot" "/data/openpilot"; do
-    if [[ -f "$dir/launch_openpilot.sh" ]]; then
-      OPENPILOT_ROOT="$dir"
-      return 0
-    fi
-  done
+  OPENPILOT_ROOT="$(resolve_root_dir)"
 }
 
 function op_install_post_commit() {
@@ -352,6 +341,11 @@ function op_clip() {
   op_run_command tools/clip/run.py $@
 }
 
+function op_hot() {
+  op_before_cmd
+  op_run_command tools/scripts/hot.sh $@
+}
+
 function op_switch() {
   REMOTE="origin"
   if [ "$#" -gt 1 ]; then
@@ -419,6 +413,7 @@ function op_default() {
   echo -e "  ${BOLD}replay${NC}       Run Replay"
   echo -e "  ${BOLD}cabana${NC}       Run Cabana"
   echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
+  echo -e "  ${BOLD}hot${NC}          Hot reload a command when files in the openpilot directory change"
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo -e "  ${BOLD}ssh${NC}          comma prime SSH helper"
   echo ""
@@ -472,6 +467,7 @@ function _op() {
     test )          shift 1; op_test "$@" ;;
     replay )        shift 1; op_replay "$@" ;;
     clip )          shift 1; op_clip "$@" ;;
+    hot )           shift 1; op_hot "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;

tools/scripts/hot.sh

@@ -0,0 +1,65 @@
+#!/usr/bin/env bash
+
+# usage: hot.sh -- COMMAND [ARGS...]
+
+set -Eeuo pipefail
+
+TOOLS_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+source "$TOOLS_DIR/lib/common.sh"
+
+command_exists() { command -v "$1" >/dev/null 2>&1; }
+
+if ! command_exists fswatch; then
+  echo "error: fswatch not found. did you run setup?" >&2
+  exit 1
+fi
+
+CMD=( )
+if [[ $# -eq 0 || "$1" != "--" ]]; then
+  echo "usage: $(basename "$0") -- COMMAND [ARGS...]" >&2
+  exit 2
+fi
+shift # drop --
+if [[ $# -eq 0 ]]; then
+  echo "error: missing command to run" >&2
+  exit 2
+fi
+CMD=("$@")
+
+ROOT_DIR="$(resolve_root_dir)"
+
+echo "watching: $ROOT_DIR" >&2
+echo "command: ${CMD[*]}" >&2
+
+child_pid=""
+cleanup() {
+  if [[ -n "${child_pid:-}" ]] && kill -0 "$child_pid" 2>/dev/null; then
+    kill -TERM -"$child_pid" 2>/dev/null || true
+    wait "$child_pid" 2>/dev/null || true
+  fi
+}
+
+trap cleanup INT TERM EXIT
+
+start_child() {
+  # start in its own process group so we can kill descendants
+  setsid "${CMD[@]}" &
+  child_pid=$!
+}
+
+exclude_flags=""
+if [[ -f "$ROOT_DIR/.gitignore" ]]; then
+  exclude_flags=$(cd "$ROOT_DIR" && grep -v '^[[:space:]]*#' .gitignore | grep -v '^[[:space:]]*$' | grep -v '^!' | sed 's|/$||' | sed 's|^|-e |')
+fi
+
+while true; do
+  start_child
+
+  echo "watching: $ROOT_DIR" >&2
+  fswatch -1 --latency=1 --event Updated --event Removed --event Renamed -x -Lr openpilot/ | while read event; do echo "$event"; done
+
+  if kill -0 "$child_pid" 2>/dev/null; then
+    kill -TERM -"$child_pid" 2>/dev/null || true
+    wait "$child_pid" 2>/dev/null || true
+  fi
+done

tools/scripts/lib/common.sh

@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+
+resolve_root_dir() {
+  local root_dir
+  root_dir="$(pwd -P)"
+
+  # First try traversing up the directory tree
+  while [[ "$root_dir" != "/" ]]; do
+    if [[ -f "$root_dir/launch_openpilot.sh" ]]; then
+      echo "$root_dir"
+      return 0
+    fi
+    root_dir="$(readlink -f "$root_dir/..")"
+  done
+
+  # Fallback to hardcoded directories if not found
+  for dir in "$HOME/openpilot" "/data/openpilot"; do
+    if [[ -f "$dir/launch_openpilot.sh" ]]; then
+      echo "$dir"
+      return 0
+    fi
+  done
+
+  pwd -P
+}