remove comma two support

Jenkinsfile

@@ -18,18 +18,6 @@ fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
-if [ -f /EON ]; then
-  # kill all old procs in the openpilot cpuset
-  while read p; do
-    kill "\$p" || true
-  done < /dev/cpuset/app/tasks
-
-  echo \$\$ > /dev/cpuset/app/tasks || true
-
-  mkdir -p /dev/shm
-  chmod 777 /dev/shm
-fi
-
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
@@ -62,28 +50,17 @@ pipeline {
   }
 
   stages {
-    stage('build releases') {
+    stage('build release') {
       when {
         branch 'devel-staging'
       }
 
-      parallel {
-        stage('release2') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("eon-build", [
-              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
-        }
-
-        stage('release3') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici", [
-              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-            ])
-          }
+      stage('release3') {
+        agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+        steps {
+          phone_steps("tici", [
+            ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+          ])
         }
       }
     }
@@ -118,29 +95,6 @@ pipeline {
                   }
                 }
 
-                stage('C2: replay') {
-                  steps {
-                    phone_steps("eon2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-                stage('C2: HW + Unit Tests') {
-                  steps {
-                    phone_steps("eon", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
-                    ])
-                  }
-                }
-
                 /*
                 stage('Power Consumption Tests') {
                   steps {
@@ -162,7 +116,7 @@ pipeline {
                 }
                 */
 
-                stage('C3: build') {
+                stage('build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
@@ -177,7 +131,7 @@ pipeline {
                   }
                 }
 
-                stage('C3: HW + Unit Tests') {
+                stage('HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -188,17 +142,7 @@ pipeline {
                   }
                 }
 
-                stage('C2: camerad') {
-                  steps {
-                    phone_steps("eon-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('C3: camerad') {
+                stage('camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -208,7 +152,7 @@ pipeline {
                   }
                 }
 
-                stage('C3: replay') {
+                stage('replay') {
                   steps {
                     phone_steps("tici3", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -225,7 +169,7 @@ pipeline {
                 branch 'master'
               }
               steps {
-                phone_steps("eon-build", [
+                phone_steps("tici-build", [
                   ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
                 ])
               }

README.md

@@ -41,8 +41,8 @@ Running in a car
 To use openpilot in a car, you need four things
 * This software. It's free and available right here.
 * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
 We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 

SConstruct

@@ -73,14 +73,9 @@ lenv = {
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
-if arch == "aarch64" or arch == "larch64":
+if arch == "larch64":
   lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
 
-  if arch == "aarch64":
-    # android
-    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
-    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
-
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -92,27 +87,17 @@ if arch == "aarch64" or arch == "larch64":
     f"#third_party/acados/{arch}/lib",
   ]
 
-  if arch == "larch64":
-    libpath += [
-      "#third_party/snpe/larch64",
-      "#third_party/libyuv/larch64/lib",
-      "/usr/lib/aarch64-linux-gnu"
-    ]
-    cpppath += [
-      "#selfdrive/camerad/include",
-    ]
-    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath += ["/usr/local/lib"]
-  else:
-    rpath = []
-    libpath += [
-      "#third_party/snpe/aarch64",
-      "#third_party/libyuv/lib",
-      "/system/vendor/lib64"
-    ]
-    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cpppath += [
+    "#selfdrive/camerad/include",
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
 else:
   cflags = []
   cxxflags = []
@@ -259,6 +244,7 @@ if os.environ.get('SCONS_PROGRESS'):
 
 SHARED = False
 
+# TODO: this can probably be removed
 def abspath(x):
   if arch == 'aarch64':
     pth = os.path.join("/data/pythonpath", x[0].path)
@@ -287,9 +273,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
-if arch != "aarch64":
-  qt_modules += ["DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -304,15 +288,6 @@ if arch == "Darwin":
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
   qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-elif arch == "aarch64":
-  qt_env['QTDIR'] = "/usr"
-  qt_dirs = [
-    f"/usr/include/qt",
-  ]
-  qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
 else:
   qt_env['QTDIR'] = "/usr"
   qt_dirs = [
@@ -390,7 +365,7 @@ rednose_config = {
   },
 }
 
-if arch not in ["aarch64", "larch64"]:
+if arch != "larch64":
   rednose_config['to_build'].update({
     'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),

launch_chffrplus.sh

@@ -8,96 +8,6 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
-function two_init {
-
-  # set IO scheduler
-  setprop sys.io.scheduler noop
-  for f in /sys/block/*/queue/scheduler; do
-    echo noop > $f
-  done
-
-  # *** shield cores 2-3 ***
-
-  # TODO: should we enable this?
-  # offline cores 2-3 to force recurring timers onto the other cores
-  #echo 0 > /sys/devices/system/cpu/cpu2/online
-  #echo 0 > /sys/devices/system/cpu/cpu3/online
-  #echo 1 > /sys/devices/system/cpu/cpu2/online
-  #echo 1 > /sys/devices/system/cpu/cpu3/online
-
-  # android gets two cores
-  echo 0-1 > /dev/cpuset/background/cpus
-  echo 0-1 > /dev/cpuset/system-background/cpus
-  echo 0-1 > /dev/cpuset/foreground/cpus
-  echo 0-1 > /dev/cpuset/foreground/boost/cpus
-  echo 0-1 > /dev/cpuset/android/cpus
-
-  # openpilot gets all the cores
-  echo 0-3 > /dev/cpuset/app/cpus
-
-  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
-  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
-  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
-
-  # *** set up governors ***
-
-  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
-  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
-  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
-  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
-
-  # unclear if these help, but they don't seem to hurt
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
-  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
-
-  # GPU
-  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
-
-  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
-  # it seems to gain nothing but a wasted 500mW
-
-  # *** set up IRQ affinities ***
-
-  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
-  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
-  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
-  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
-  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
-
-  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
-
-  # GPU and camera get cpu 2
-  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
-  for irq in $CAM_IRQS; do
-    echo 2 > /proc/irq/$irq/smp_affinity_list
-  done
-  echo 2 > /proc/irq/193/smp_affinity_list # GPU
-
-  # give GPU threads RT priority
-  for pid in $(pgrep "kgsl"); do
-    chrt -f -p 52 $pid
-  done
-
-  # the flippening!
-  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
-
-  # disable bluetooth
-  service call bluetooth_manager 8
-
-  # wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
-
-  # Check for NEOS update
-  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
-    echo "Installing NEOS update"
-    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
-    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
-    $NEOS_PY --swap-if-ready $MANIFEST
-    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
-  fi
-}
-
 function tici_init {
   # wait longer for weston to come up
   if [ -f "$BASEDIR/prebuilt" ]; then
@@ -168,9 +78,7 @@ function launch {
   export PYTHONPATH="$PWD:$PWD/pyextra"
 
   # hardware specific init
-  if [ -f /EON ]; then
-    two_init
-  elif [ -f /TICI ]; then
+  if [ -f /TICI ]; then
     tici_init
   fi
 

launch_env.sh

@@ -6,10 +6,6 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
-if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="19.1"
-fi
-
 if [ -z "$AGNOS_VERSION" ]; then
   export AGNOS_VERSION="4"
 fi

release/build_release.sh

@@ -13,10 +13,6 @@ if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
   RELEASE_BRANCH=release3-staging
   DASHCAM_BRANCH=dashcam3-staging
-elif [ -f /EON ]; then
-  FILES_SRC="release/files_eon"
-  RELEASE_BRANCH=release2-staging
-  DASHCAM_BRANCH=dashcam-staging
 else
   exit 0
 fi

selfdrive/camerad/SConscript

@@ -2,10 +2,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc',
 
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
 
-if arch == "aarch64":
-  libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
-  cameras = ['cameras/camera_qcom.cc']
-elif arch == "larch64":
+if arch == "larch64":
   libs += ['atomic']
   cameras = ['cameras/camera_qcom2.cc']
 else: