#!/usr/bin/bash
# CLEARPILOT: build-only mode — compile without starting manager.
# On failure: shows error on screen (non-blocking) and exits nonzero with stderr output.
# On success: exits 0, does not start manager.
#
# Usage: su - comma -c "bash /data/openpilot/build_only.sh"

BASEDIR="/data/openpilot"

# Fix ownership — we edit as root, openpilot builds/runs as comma
sudo chown -R comma:comma "$BASEDIR"

# Kill stale error displays and any running manager/launch/managed processes
pkill -9 -f "selfdrive/ui/text" 2>/dev/null
pkill -9 -f 'launch_openpilot.sh' 2>/dev/null
pkill -9 -f 'launch_chffrplus.sh' 2>/dev/null
pkill -9 -f 'python.*manager.py' 2>/dev/null
pkill -9 -f 'selfdrive\.' 2>/dev/null
pkill -9 -f 'system\.' 2>/dev/null
pkill -9 -f './ui' 2>/dev/null
sleep 1

source "$BASEDIR/launch_env.sh"

ln -sfn "$BASEDIR" /data/pythonpath
export PYTHONPATH="$BASEDIR"

# Hardware init (GPU perms)
sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null

cd "$BASEDIR/selfdrive/manager"
rm -f "$BASEDIR/prebuilt"

BUILD_ONLY=1 exec ./build.py