Revert "remove comma two support (commaai#24248)"

This reverts commit 5c48e7b.

Jenkinsfile

@@ -18,6 +18,18 @@ 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
@@ -50,15 +62,29 @@ pipeline {
   }
 
   stages {
-    stage('build release3') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+    stage('build releases') {
       when {
         branch 'devel-staging'
       }
-      steps {
-        phone_steps("tici", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
-        ])
+
+      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"],
+            ])
+          }
+        }
       }
     }
 
@@ -80,6 +106,41 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
+                stage('C2: build') {
+                  steps {
+                    phone_steps("eon-build", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                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 {
@@ -101,7 +162,7 @@ pipeline {
                 }
                 */
 
-                stage('build') {
+                stage('C3: build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
@@ -116,7 +177,7 @@ pipeline {
                   }
                 }
 
-                stage('HW + Unit Tests') {
+                stage('C3: HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -128,7 +189,17 @@ pipeline {
                   }
                 }
 
-                stage('camerad') {
+                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') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -138,7 +209,7 @@ pipeline {
                   }
                 }
 
-                stage('replay') {
+                stage('C3: replay') {
                   steps {
                     phone_steps("tici3", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -155,7 +226,7 @@ pipeline {
                 branch 'master'
               }
               steps {
-                phone_steps("tici-build", [
+                phone_steps("eon-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: 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).
+* 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).
 
 We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 

SConstruct

@@ -73,9 +73,14 @@ lenv = {
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
-if arch == "larch64":
+if arch == "aarch64" or 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",
   ]
@@ -87,17 +92,27 @@ if arch == "larch64":
     f"#third_party/acados/{arch}/lib",
   ]
 
-  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"]
+  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"]
 else:
   cflags = []
   cxxflags = []
@@ -244,7 +259,6 @@ 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)
@@ -273,7 +287,9 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -288,6 +304,15 @@ 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 = [
@@ -365,7 +390,7 @@ rednose_config = {
   },
 }
 
-if arch != "larch64":
+if arch not in ["aarch64", "larch64"]:
   rednose_config['to_build'].update({
     'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),

common/file_helpers.py

@@ -81,12 +81,25 @@ def _get_fileobject():
     return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
+
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -95,5 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

installer/updater/updater

@@ -0,0 +1,2 @@
+#!/usr/bin/bash
+echo "this is a compatability shim for old updaters"