switch to uv (#32853)

* switch to uv

* pin back numpy

* remove lock

* try without cache

* test with no cache

* no cache for all

* debug

* remove debug

* remove pygame dep

* Update README.md

* remove lower bound

* update repo maintenance job

* upgradable

* repo maintenance

* copy poetry api

* build system

* unpin pygame

* readd cache

* readd cache

* basic command

* lower delay

* macos

* fix authors

* macos fix

* use uv

* preview

* other way

* new metadrive

* uv sync

* cp lock in docker

* fix docker

* use hatchling

* fix devcontainer

* fix container

* path

* uv run

* cleanup

* pre-commit

* format

* release_file

.devcontainer/Dockerfile

@@ -1,7 +1,8 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
 RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \

.github/workflows/repo-maintenance.yaml

@@ -41,10 +41,10 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: poetry lock
+    - name: uv lock
       run: |
-        pip install poetry
-        poetry lock
+        pip install uv
+        uv lock
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'

.github/workflows/selfdrive_tests.yaml

@@ -62,7 +62,6 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
@@ -86,7 +85,7 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-      
+
   build_mac:
     name: build macos
     runs-on: macos-latest
@@ -102,7 +101,7 @@ jobs:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
     - name: Test openpilot environment
-      run: poetry run scons -h
+      run: . .venv/bin/activate && scons -h
 
   static_analysis:
     name: static analysis

.github/workflows/tools_tests.yaml

@@ -53,10 +53,8 @@ jobs:
         python-version: '3.11.4'
     - name: Installing pip
       run: pip install pip==24.0
-    - name: Installing poetry
-      run: pip install poetry==1.7.0
-    - name: Installing python dependencies
-      run: poetry install --no-cache --no-root
+    - name: Installing uv
+      run: pip install uv
     - name: git LFS
       run: git lfs pull
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
@@ -69,7 +67,7 @@ jobs:
           scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-ubuntu2004
     - name: Building openpilot
-      run: poetry run scons -u -j$(nproc)
+      run: uv run scons -u -j$(nproc)
     - name: Saving scons cache
       uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
@@ -100,6 +98,6 @@ jobs:
     - name: Test environment
       run: |
         devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt

.pre-commit-config.yaml

@@ -19,15 +19,15 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
         args:
         - --maxkb=120
         - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
     rev: v2.3.0
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
@@ -92,13 +92,6 @@ repos:
         language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
     rev: 0.28.5
     hooks:

Dockerfile.openpilot_base

@@ -68,16 +68,15 @@ RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-COPY --chown=$USER pyproject.toml poetry.lock /tmp/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV VIRTUAL_ENV=/home/$USER/venv/.venv
-RUN python3 -m venv $VIRTUAL_ENV
+ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN . $VIRTUAL_ENV/bin/activate && \
-    cd /tmp && \
+RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
     rm -rf /tmp/* && \
     rm -rf /home/$USER/.cache