os: add support for windows

.github/workflows/ci.yml

@@ -9,6 +9,9 @@ jobs:
   build:
     name: build (${{ matrix.platform }})
     runs-on: ${{ (github.repository == 'commaai/dependencies' && (github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == 'commaai/dependencies')) && matrix.runs-on-namespace || matrix.runs-on }}
+    defaults:
+      run:
+        shell: ${{ matrix.shell || 'bash -e {0}' }} # the implicit default; a bare `bash` would add pipefail
     strategy:
       fail-fast: false
       matrix:
@@ -22,6 +25,9 @@ jobs:
           - platform: macos
             runs-on: macos-latest
             runs-on-namespace: namespace-profile-macos-8x14
+          - platform: windows-x86_64
+            runs-on: windows-latest
+            shell: msys2 {0} # the CLANG64 shell from setup-msys2 below
     steps:
       - uses: actions/checkout@v7
         with:
@@ -34,6 +40,10 @@ jobs:
             echo "Selected: $XCODE"
             sudo xcode-select -s "$XCODE"
           fi
+      - uses: msys2/setup-msys2@v2
+        if: runner.os == 'Windows'
+        with:
+          msystem: CLANG64
       - uses: actions/cache@v6
         with:
           key: ccache-${{ matrix.platform }}-${{ github.run_id }}
@@ -46,6 +56,9 @@ jobs:
             .uv-cache
             */*/toolchain
             */*/bin
+      - name: Install MSYS2 build dependencies
+        if: runner.os == 'Windows'
+        run: ./setup.sh
       - name: Build wheels
         env:
           MANYLINUX: ${{ runner.os == 'Linux' && '1' || '0' }}
@@ -88,10 +101,35 @@ jobs:
           path: dist/
       - run: ./test_wheels_in_image.sh "${{ matrix.image }}"
 
+  test-windows:
+    name: test windows
+    needs: build
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v7
+      - uses: actions/download-artifact@v8
+        with:
+          name: wheels-windows-x86_64
+          path: dist/
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+      - name: Install the wheels into a clean venv and run the smoketests
+        # a stock Python with no MSYS2 on PATH: catches a wheel that still depends on the toolchain's DLLs
+        shell: bash
+        run: |
+          python -m venv venv
+          source venv/Scripts/activate
+          pip install dist/*.whl
+          for toml in */pyproject.toml; do
+            module="$(basename "$(dirname "$toml")" | tr "-" "_")"
+            python -c "import $module; $module.smoketest()"
+          done
+
   publish:
     name: publish wheels
     if: github.event_name == 'push' && github.ref == 'refs/heads/master'
-    needs: [build, test]
+    needs: [build, test, test-windows]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7

.gitignore

@@ -35,5 +35,8 @@ mdbook/mdbook/bin/
 # vendored at build time
 acados/acados/acados_template/
 acados/casadi/
-acados/casadi-venv/
+acados/casadi-target/
 acados/casadi-wheel/
+
+# cffi build output on Windows
+raylib/Release/

README.md

@@ -67,6 +67,11 @@ to add a new package:
 * `./build.sh` builds all packages, `./test_wheels_in_image.sh` tests the built wheels in a range of distros
 *  on pushes to `master`, wheels are built for our target platforms, tested, and published to PyPI
 
+### Windows
+
+`./build.sh` builds the win_amd64 wheels from an [MSYS2](https://www.msys2.org/) CLANG64 shell; `./setup.sh`
+installs the pacman packages, git and uv included, so nothing outside MSYS2 is needed.
+
 > [!NOTE]
 > PyPI does not allow overwriting an uploaded file, so every master commit publishes
 > fresh versions as `<package version>.postN`, where `N` is `git rev-list --count HEAD`

acados/acados/__init__.py

@@ -4,15 +4,15 @@
 INCLUDE_DIR = os.path.join(DIR, "include")
 LIB_DIR = os.path.join(DIR, "lib")
 BIN_DIR = os.path.join(DIR, "bin")
-TERA_PATH = os.path.join(BIN_DIR, "t_renderer")
+TERA_PATH = os.path.join(BIN_DIR, "t_renderer" + (".exe" if os.name == "nt" else ""))
 
 TEMPLATE_DIR = os.path.join(os.path.dirname(__file__), "acados_template")
 
 
 def smoketest():
   import sys
 
-  lib_ext = ".dylib" if sys.platform == "darwin" else ".so"
+  lib_ext = {"darwin": ".dylib", "win32": ".a"}.get(sys.platform, ".so")  # acados builds static on Windows
   for lib in ("libacados", "libblasfeo", "libhpipm", "libqpOASES_e"):
     path = os.path.join(LIB_DIR, lib + lib_ext)
     assert os.path.isfile(path), f"missing lib: {path}"

acados/build.sh

@@ -15,7 +15,11 @@ NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
 
 # pick BLAS target per host arch
 ARCH="$(uname -m)"
-if [[ "$OSTYPE" == "darwin"* ]]; then
+case "$(uname -s)" in MINGW*|MSYS*) WINDOWS=1 ;; *) WINDOWS="" ;; esac
+if [ -n "$WINDOWS" ]; then
+  # BLASFEO's x86 assembly kernels assume the SysV calling convention; use the C fallback on Windows
+  BLAS_TARGET="GENERIC"
+elif [[ "$OSTYPE" == "darwin"* ]]; then
   # this BLASFEO version doesn't have an Apple Silicon target; Cortex-A57
   # baseline ARMv8 SIMD compiles and runs fine on M1+.
   BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
@@ -41,6 +45,9 @@ ACADOS_FLAGS=(
   # (pinned) sources keep compiling.
   "-DCMAKE_C_FLAGS=-Wno-implicit-function-declaration -Wno-incompatible-pointer-types"
 )
+if [ -n "$WINDOWS" ]; then
+  ACADOS_FLAGS+=(-DHPIPM_TARGET=GENERIC)
+fi
 if [[ "$OSTYPE" == "darwin"* ]]; then
   ACADOS_FLAGS+=(
     -DCMAKE_OSX_ARCHITECTURES=arm64
@@ -61,7 +68,7 @@ git -C acados-src submodule update --init --recursive --depth=1
 mkdir -p build
 cd build
 cmake "${ACADOS_FLAGS[@]}" "$DIR/acados-src"
-make -j"$NJOBS" install
+cmake --build . -j"$NJOBS" --target install
 cd "$DIR"
 
 # we don't ship sample json templates
@@ -86,35 +93,47 @@ if [ -f "$TEMPLATE_DIR/gnsf/check_reformulation.py" ]; then
   rm -f "$TEMPLATE_DIR/gnsf/check_reformulation.py.bak"
 fi
 
+# render_template() quotes the tera arguments but not the t_renderer path, and
+# runs it through cmd.exe (os.system), which strips the command's outer quote
+# pair. Quote the executable and wrap the whole command so a spaced path works.
+sed -i.bak "s|f\"{tera_path} |f\"'{tera_path}' |" "$TEMPLATE_DIR/utils.py"
+sed -i "s|os_cmd = \(os_cmd\.replace.*\)|os_cmd = '\"' + \1 + '\"'|" "$TEMPLATE_DIR/utils.py"
+rm -f "$TEMPLATE_DIR/utils.py.bak"
+
 # build tera renderer (needs cargo)
-if ! command -v cargo >/dev/null 2>&1; then
+if [ -n "$WINDOWS" ]; then
+  # no rust toolchain requirement on Windows: fetch the release binary acados_template pins
+  TERA_VERSION="$(sed -n 's/^TERA_VERSION *= *"\(.*\)"/\1/p' "$TEMPLATE_DIR/utils.py" | head -1)"
+  mkdir -p "$INSTALL_DIR/bin"
+  curl -fSL -o "$INSTALL_DIR/bin/t_renderer.exe" "https://github.com/acados/tera_renderer/releases/download/v${TERA_VERSION}/t_renderer-v${TERA_VERSION}-windows"
+elif ! command -v cargo >/dev/null 2>&1; then
   echo "installing rust toolchain (needed for tera_renderer)..."
   curl -LsSf https://sh.rustup.rs | sh -s -- -y --default-toolchain stable --profile minimal
   # shellcheck disable=SC1091
   source "$HOME/.cargo/env"
 fi
 
-mkdir -p "$INSTALL_DIR/bin"
-cd "$DIR/acados-src/interfaces/acados_template/tera_renderer/"
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  cargo build --release --target aarch64-apple-darwin
-  cp target/aarch64-apple-darwin/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
-else
-  cargo build --release
-  cp target/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+if [ -z "$WINDOWS" ]; then
+  mkdir -p "$INSTALL_DIR/bin"
+  cd "$DIR/acados-src/interfaces/acados_template/tera_renderer/"
+  if [[ "$OSTYPE" == "darwin"* ]]; then
+    cargo build --release --target aarch64-apple-darwin
+    cp target/aarch64-apple-darwin/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+  else
+    cargo build --release
+    cp target/release/t_renderer "$INSTALL_DIR/bin/t_renderer"
+  fi
+  cd "$DIR"
 fi
 
-cd "$DIR"
-
-# vendor a slim casadi: install the upstream wheel into a throwaway cp312 venv
+# vendor a slim casadi: install the upstream wheel into a throwaway directory
 # (uv resolves the right platform wheel automatically), then move the casadi/
 # tree out and slim it.
 echo "vendoring casadi $CASADI_VERSION ..."
-rm -rf "$CASADI_DIR" casadi-venv
-uv venv --python 3.12 --quiet casadi-venv
-uv pip install --python casadi-venv/bin/python --no-deps --quiet "casadi==$CASADI_VERSION"
-mv casadi-venv/lib/python3.12/site-packages/casadi "$CASADI_DIR"
-rm -rf casadi-venv
+rm -rf "$CASADI_DIR" casadi-target
+uv pip install --python 3.12 --target casadi-target --no-deps --quiet "casadi==$CASADI_VERSION"
+mv casadi-target/casadi "$CASADI_DIR"
+rm -rf casadi-target
 
 # drop everything except the bits openpilot actually needs:
 #   - __init__.py, casadi.py, tools/  (Python wrapper)
@@ -127,7 +146,7 @@ rm -rf casadi-venv
 cd "$CASADI_DIR"
 shopt -s extglob
 # libc++.*.dylib only exists on darwin and is needed by _casadi.so via @rpath
-rm -rf !(__init__.py|casadi.py|_casadi.so|tools|libcasadi.*|libc++.*)
+rm -rf !(__init__.py|casadi.py|_casadi.*|tools|libcasadi.*|libc++.*|*.dll)
 shopt -u extglob
 
 cd "$DIR"

acados/setup.py

@@ -1,6 +1,8 @@
 import os
 import platform
+import shutil
 import subprocess
+import sys
 
 from setuptools.command.build_py import build_py
 
@@ -25,8 +27,8 @@ class BuildAcados(build_py):
 
   def run(self):
     pkg_dir = os.path.dirname(os.path.abspath(__file__))
-    build_script = os.path.join(pkg_dir, "build.sh")
-    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+    # bash from PATH: CreateProcess would find the WSL launcher in System32 first
+    subprocess.check_call([shutil.which("bash") or "bash", "build.sh"], cwd=pkg_dir, env={**os.environ, "PYTHON": sys.executable})
 
     super().run()
 
@@ -52,6 +54,8 @@ def get_tag(self):
         plat = os.environ.get("AUDITWHEEL_PLAT", f"linux_{machine}")
       elif system == "Darwin":
         plat = "macosx_11_0_arm64"
+      elif system == "Windows":
+        plat = "win_amd64"
       else:
         plat = f"{system.lower()}_{machine}"
 

bootstrap-icons/build.sh

@@ -18,7 +18,7 @@ rm -rf "$INSTALL_DIR"
 mkdir -p "$INSTALL_DIR"
 cp icons-src/bootstrap-icons.svg "$INSTALL_DIR/"
 
-python3 - <<'PY'
+"${PYTHON:-python3}" - <<'PY'
 from fontTools.ttLib import TTFont
 
 font = TTFont("icons-src/font/fonts/bootstrap-icons.woff")

bootstrap-icons/setup.py

@@ -1,5 +1,7 @@
 import os
+import shutil
 import subprocess
+import sys
 
 from setuptools.command.build_py import build_py
 
@@ -9,8 +11,8 @@ class BuildBootstrapIcons(build_py):
 
   def run(self):
     pkg_dir = os.path.dirname(os.path.abspath(__file__))
-    build_script = os.path.join(pkg_dir, "build.sh")
-    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+    # bash from PATH: CreateProcess would find the WSL launcher in System32 first
+    subprocess.check_call([shutil.which("bash") or "bash", "build.sh"], cwd=pkg_dir, env={**os.environ, "PYTHON": sys.executable})
 
     super().run()
 

build.sh

@@ -64,6 +64,9 @@ export CMAKE_C_COMPILER_LAUNCHER=ccache
 export CMAKE_CXX_COMPILER_LAUNCHER=ccache
 export CCACHE_DIR="${CCACHE_DIR:-$ROOT_DIR/.ccache}"
 
+# MSYS2 puts its own mingw CPython first on PATH; the wheels target the MSVC CPython that uv manages
+case "$(uname -s)" in MINGW*|MSYS*) export UV_PYTHON="${UV_PYTHON:-3.12}" ;; esac
+
 restore_build_versions() {
   python3 build_versions.py restore */pyproject.toml
 }
@@ -95,12 +98,14 @@ echo
 echo "Running smoketests"
 
 uv venv --allow-existing --quiet "$VENV_DIR"
-uv pip install --python "$VENV_DIR/bin/python" --quiet "cffi>=1.17.1" >/dev/null
-uv pip install --python "$VENV_DIR/bin/python" --reinstall --no-deps --quiet dist/*.whl >/dev/null
+VENV_PYTHON="$VENV_DIR/bin/python"
+[[ -e "$VENV_PYTHON" ]] || VENV_PYTHON="$VENV_DIR/Scripts/python.exe"  # Windows venv layout
+uv pip install --python "$VENV_PYTHON" --quiet "cffi>=1.17.1" >/dev/null
+uv pip install --python "$VENV_PYTHON" --reinstall --no-deps --quiet dist/*.whl >/dev/null
 
 for toml in */pyproject.toml; do
   module="$(basename "$(dirname "$toml")" | tr '-' '_')"
-  "$VENV_DIR/bin/python" -c "import $module; $module.smoketest()" >/dev/null
+  "$VENV_PYTHON" -c "import $module; $module.smoketest()" >/dev/null
 done
 
 du -hs dist/* | sort -hr

capnproto/build.sh

@@ -6,6 +6,10 @@ cd "$DIR"
 
 VERSION="1.0.1"
 INSTALL_DIR="$DIR/capnproto/install"
+EXE=""
+EXE_LINKER_FLAGS=""
+# static libc++ so the tools run outside an MSYS2 shell (no libc++.dll on PATH)
+case "$(uname -s)" in MINGW*|MSYS*) EXE=".exe"; EXE_LINKER_FLAGS="-static" ;; esac
 
 NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
 
@@ -31,7 +35,8 @@ cmake -S capnproto-src -B "$DIR/build" \
   -DCMAKE_CXX_FLAGS="-fPIC" \
   -DWITH_OPENSSL=OFF \
   -DBUILD_TESTING=OFF \
-  -DBUILD_SHARED_LIBS=OFF
+  -DBUILD_SHARED_LIBS=OFF \
+  -DCMAKE_EXE_LINKER_FLAGS="$EXE_LINKER_FLAGS"
 
 cmake --build "$DIR/build" -j"$NJOBS"
 cmake --install "$DIR/build"
@@ -41,9 +46,9 @@ rm -rf "$INSTALL_DIR"
 mkdir -p "$INSTALL_DIR"/{bin,lib,include}
 
 # Binaries
-cp "$PREFIX/bin/capnp" "$INSTALL_DIR/bin/"
-cp "$PREFIX/bin/capnpc-c++" "$INSTALL_DIR/bin/"
-ln -sf capnp "$INSTALL_DIR/bin/capnpc"
+cp "$PREFIX/bin/capnp$EXE" "$INSTALL_DIR/bin/"
+cp "$PREFIX/bin/capnpc-c++$EXE" "$INSTALL_DIR/bin/"
+ln -sf "capnp$EXE" "$INSTALL_DIR/bin/capnpc$EXE"  # a copy under MSYS2, which has no symlinks by default
 
 # Libraries (only the ones openpilot needs)
 cp "$PREFIX/lib/libcapnp.a" "$INSTALL_DIR/lib/"
@@ -54,7 +59,7 @@ cp -r "$PREFIX/include/capnp" "$INSTALL_DIR/include/"
 cp -r "$PREFIX/include/kj" "$INSTALL_DIR/include/"
 
 # Strip binaries and libs
-strip "$INSTALL_DIR/bin/capnp" "$INSTALL_DIR/bin/capnpc-c++" 2>/dev/null || true
+strip "$INSTALL_DIR/bin/capnp$EXE" "$INSTALL_DIR/bin/capnpc-c++$EXE" 2>/dev/null || true
 
 # Strip unused kj objects from libkj.a (not needed by openpilot)
 for obj in filesystem.c++.o main.c++.o test-helpers.c++.o; do