Revert "Merge commit '3066f93d8a1db92ac900e6ccc64ff68c154deafb' into …

…bmw_stepper"

This reverts commit 0153445, reversing
changes made to d233518.

.github/workflows/drivers.yaml

@@ -1,9 +1,5 @@
 name: drivers
-on:
-  push:
-    branches:
-      - master
-  pull_request:
+on: [push, pull_request]
 
 jobs:
   build_socketcan:
@@ -20,9 +16,7 @@ jobs:
           cd drivers/linux
           make link
           make build
-
-          # FIXME: install doesn't work sometimes in GH Actions
-          #make install
+          make install
       - name: Print make log
         if: always()
         continue-on-error: true

.github/workflows/test.yaml

@@ -11,7 +11,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  RUN: docker run -v ${{ github.workspace }}:/tmp/pythonpath/panda -w /tmp/pythonpath/panda --rm panda /bin/bash -c
+  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
@@ -45,7 +45,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Test python package installer
-        run: ${{ env.RUN }} "python3 setup.py install"
+        run: ${{ env.RUN }} "python setup.py install"
       - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
@@ -54,8 +54,6 @@ jobs:
         run: ${{ env.RUN }} "scons -j4 --ubsan"
       - name: Build jungle firmware with FINAL_PROVISIONING support
         run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
-      - name: Build panda in release mode
-        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
 
   unit_tests:
     name: unit tests
@@ -105,22 +103,8 @@ jobs:
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
-  mutation:
-    name: Mutation tests
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0 # need master to get diff
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Mutation tests
-        timeout-minutes: 5
-        run: ${{ env.RUN }} "GIT_REF=${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.event.before || 'origin/master' }} cd tests/safety && ./mutation.sh"
-
-  static_analysis:
-    name: static analysis
+  python_linter:
+    name: python linter
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:

.gitignore

@@ -11,7 +11,6 @@ a.out
 *~
 .#*
 dist/
-build/
 pandacan.egg-info/
 obj/
 examples/output.csv
@@ -29,7 +28,3 @@ nosetests.xml
 *.gcno
 tests/safety/coverage-out
 tests/safety/coverage.info
-
-*.profraw
-*.profdata
-mull.yml

.pre-commit-config.yaml

@@ -9,12 +9,12 @@ repos:
     - id: check-executables-have-shebangs
     - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.11.2
+  rev: v1.11.1
   hooks:
     - id: mypy
       additional_dependencies: ['numpy', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.6.8
+  rev: v0.5.5
   hooks:
     - id: ruff

Dockerfile

@@ -1,51 +1,67 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED=1
-ENV PYTHONPATH=/tmp/pythonpath
+ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     make \
+    bzip2 \
+    ca-certificates \
+    capnproto \
+    clang \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
+    libarchive-dev \
+    libbz2-dev \
+    libcapnp-dev \
     libffi-dev \
+    libtool \
     libusb-1.0-0 \
+    libzmq3-dev \
+    locales \
+    opencl-headers \
+    ocl-icd-opencl-dev \
     python3 \
     python3-dev \
     python3-pip \
+    python-is-python3 \
+    zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
     apt clean && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp && \
-    apt-get update && apt-get install -y clang-17 && \
-    ln -s $(which clang-17) /usr/bin/clang
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
-RUN apt-get update && apt-get install -y curl && \
-    curl -1sLf 'https://dl.cloudsmith.io/public/mull-project/mull-stable/setup.deb.sh' | bash && \
-    apt-get update && apt-get install -y mull-17
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+COPY requirements.txt /tmp/
+RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
 
 ENV CPPCHECK_DIR=/tmp/cppcheck
 COPY tests/misra/install.sh /tmp/
 RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
 ENV SKIP_CPPCHECK_INSTALL=1
 
-COPY setup.py __init__.py $PYTHONPATH/panda/
-COPY python/__init__.py $PYTHONPATH/panda/python/
-RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
+ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
+ENV OPENDBC_REF="8e9d3688412405154a8189c421cfdc9d5feea715"
 
-# TODO: this should be a "pip install" or not even in this repo at all
-RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="e1ce3619a5db661ef2b406ccf258a253baf6eebc"
-RUN cd /tmp/ && \
-    git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
-    cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
-    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
-    scons -j8 --minimal opendbc/ && \
-    ln -s $PWD/opendbc $PYTHONPATH/opendbc
+RUN git config --global --add safe.directory /tmp/openpilot/panda
+RUN mkdir -p /tmp/openpilot/ && \
+    cd /tmp/openpilot/ && \
+    git clone --depth 1 https://github.com/commaai/cereal && \
+    git clone --depth 1 https://github.com/commaai/opendbc && \
+    cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
+    cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
+    cp -pR opendbc/SConstruct opendbc/site_scons/ . && \
+    pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \
+    scons -j8 --minimal opendbc/ cereal/
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/
-RUN mkdir -p /tmp/pythonpath/panda && \
-    tar -xvf /tmp/panda.tar.gz -C /tmp/pythonpath/panda/ || true
+RUN mkdir /tmp/openpilot/panda && \
+    tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true

Jenkinsfile

@@ -4,7 +4,7 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
-          --workdir /tmp/pythonpath/panda \
+          --workdir /tmp/openpilot/panda \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
           bash -c 'scons -j8 && ${cmd}'", \
@@ -92,7 +92,7 @@ pipeline {
           steps {
             script {
               retry (3) {
-                docker_run("reset hardware", 3, "python3 ./tests/hitl/reset_jungles.py")
+                docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
               }
             }
           }
@@ -106,7 +106,7 @@ pipeline {
                 phone_steps("panda-tres", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
                   ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
                 ])
               }
@@ -118,7 +118,7 @@ pipeline {
                 phone_steps("panda-dos", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
+                  ["flash jungle", "cd board/jungle && ./flash.py"],
                   ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
                 ])
               }

README.md

@@ -49,7 +49,7 @@ In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [my
 Setup dependencies:
 ```bash
 # Ubuntu
-sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git clang-17
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
 
 # macOS
 brew install --cask gcc-arm-embedded
@@ -62,7 +62,7 @@ git clone https://github.com/commaai/panda.git
 cd panda
 
 # install dependencies
-pip install -e .[dev]
+pip install -r requirements.txt
 
 # install panda
 python setup.py install
@@ -97,7 +97,7 @@ The panda jungle uses different udev rules. See [the repo](https://github.com/co
 As a universal car interface, it should support every reasonable software interface.
 
 - [Python library](https://github.com/commaai/panda/tree/master/python)
-- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/pandad)
+- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
 - [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
 
 ## Licensing

SConscript

@@ -167,9 +167,7 @@ Export('base_project_f4', 'base_project_h7', 'build_project')
 
 # Common autogenerated includes
 with open("board/obj/gitversion.h", "w") as f:
-  version = get_version(BUILDER, BUILD_TYPE)
-  f.write(f'extern const uint8_t gitversion[{len(version)}];\n')
-  f.write(f'const uint8_t gitversion[{len(version)}] = "{version}";\n')
+  f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
 
 with open("board/obj/version", "w") as f:
   f.write(f'{get_version(BUILDER, BUILD_TYPE)}')

SConstruct

@@ -16,10 +16,6 @@ AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
 
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],

__init__.py

@@ -2,8 +2,7 @@
 from .python.spi import PandaSpiException, PandaProtocolMismatch, STBootloaderSPIHandle  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python.canhandle import CanHandle # noqa: F401
-from .python.utils import logger # noqa: F401
-from .python import (Panda, PandaDFU, uds, isotp, # noqa: F401
+from .python import (Panda, PandaDFU, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,
                      DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
 

board/boards/black.h

@@ -1,12 +1,8 @@
-#pragma once
-
-#include "board_declarations.h"
-
 // /////////////////////////////// //
 // Black Panda (STM32F4) + Harness //
 // /////////////////////////////// //
 
-static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
+void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   switch (transceiver){
     case 1U:
       set_gpio_output(GPIOC, 1, !enabled);
@@ -26,7 +22,7 @@ static void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
   }
 }
 
-static void black_enable_can_transceivers(bool enabled) {
+void black_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
     if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
@@ -37,7 +33,7 @@ static void black_enable_can_transceivers(bool enabled) {
   }
 }
 
-static void black_set_led(uint8_t color, bool enabled) {
+void black_set_led(uint8_t color, bool enabled) {
   switch (color){
     case LED_RED:
       set_gpio_output(GPIOC, 9, !enabled);
@@ -53,11 +49,11 @@ static void black_set_led(uint8_t color, bool enabled) {
   }
 }
 
-static void black_set_usb_load_switch(bool enabled) {
+void black_set_usb_load_switch(bool enabled) {
   set_gpio_output(GPIOB, 1, !enabled);
 }
 
-static void black_set_can_mode(uint8_t mode) {
+void black_set_can_mode(uint8_t mode) {
   black_enable_can_transceiver(2U, false);
   black_enable_can_transceiver(4U, false);
   switch (mode) {
@@ -90,12 +86,12 @@ static void black_set_can_mode(uint8_t mode) {
   }
 }
 
-static bool black_check_ignition(void){
+bool black_check_ignition(void){
   // ignition is checked through harness
   return harness_check_ignition();
 }
 
-static void black_init(void) {
+void black_init(void) {
   common_init_gpio();
 
   // A8,A15: normal CAN3 mode
@@ -139,13 +135,13 @@ static void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 }
 
-static void black_init_bootloader(void) {
+void black_init_bootloader(void) {
   // GPS OFF
   set_gpio_output(GPIOC, 5, 0);
   set_gpio_output(GPIOC, 12, 0);
 }
 
-static harness_configuration black_harness_config = {
+harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
@@ -166,7 +162,6 @@ board board_black = {
   .has_spi = false,
   .has_canfd = false,
   .fan_max_rpm = 0U,
-  .fan_max_pwm = 100U,
   .avdd_mV = 3300U,
   .fan_stall_recovery = false,
   .fan_enable_cooldown_time = 0U,