try no scons (#3194)

* try no scons

* lil more

* lil more

* lazy

* fix ty

.github/workflows/tests.yml

@@ -49,7 +49,6 @@ jobs:
       - name: Run mutation tests
         run: |
           source setup.sh
-          scons -j8
           python opendbc/safety/tests/mutation.py
 
   car_diff:
@@ -61,10 +60,6 @@ jobs:
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: Build opendbc
-      run: |
-        source setup.sh
-        scons -j8
     - name: Test car diff
       if: github.event_name == 'pull_request'
       run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt

.github/workflows/update-cars-docs.yml

@@ -15,7 +15,6 @@ jobs:
       - name: Generate Car Docs
         run: |
           pip install -e .
-          scons -c && scons -j$(nproc)
           python -m pip install jinja2==3.1.4
           python opendbc/car/docs.py
       - uses: stefanzweifel/git-auto-commit-action@8621497c8c39c72f3e2a999a26b4ca1b5058a842

.gitignore

@@ -9,7 +9,6 @@
 *.dylib
 .*.swp
 .DS_Store
-.sconsign.dblite
 .hypothesis
 *.egg-info/
 *.html
@@ -21,14 +20,10 @@
 .vscode/
 __pycache__/
 *.profraw
-.sconf_temp/
-
 opendbc/can/build/
 opendbc/can/obj/
-opendbc/dbc/*_generated.dbc
 
 cppcheck-addon-ctu-file-list
 opendbc/safety/tests/coverage-out
 
-compile_commands.json
 .mull/

SConscript

@@ -1,5 +0,0 @@
-SConscript(['opendbc/dbc/SConscript'])
-
-# test files
-if GetOption('extras'):
-  SConscript('opendbc/safety/tests/libsafety/SConscript')

SConstruct

@@ -1,7 +0,0 @@
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=True,
-          help='the minimum build. no tests, tools, etc.')
-
-SConscript(['SConscript'])

opendbc/__init__.py

@@ -4,3 +4,14 @@ DBC_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'dbc')
 
 # -I include path for e.g. "#include <opendbc/safety/safety.h>"
 INCLUDE_PATH = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+_generated_dbc_cache: dict[str, str] | None = None
+
+def get_generated_dbcs() -> dict[str, str]:
+  """Lazily generate all *_generated DBC content in memory.
+  Returns {name: content} where name has no .dbc extension."""
+  global _generated_dbc_cache
+  if _generated_dbc_cache is None:
+    from opendbc.dbc.generator.generator import generate_all
+    _generated_dbc_cache = generate_all()
+  return _generated_dbc_cache

opendbc/can/dbc.py

@@ -4,7 +4,7 @@ from collections.abc import Callable
 from dataclasses import dataclass
 from functools import cache
 
-from opendbc import DBC_PATH
+from opendbc import DBC_PATH, get_generated_dbcs
 
 # TODO: these should just be passed in along with the DBC file
 from opendbc.car.honda.hondacan import honda_checksum
@@ -77,16 +77,32 @@ VAL_SPLIT_RE = re.compile(r'["]+')
 @cache
 class DBC:
   def __init__(self, name: str):
-    dbc_path = name
+    if os.path.exists(name):
-    if not os.path.exists(dbc_path):
+      self._parse_file(name)
+    else:
       dbc_path = os.path.join(DBC_PATH, name + ".dbc")
+      if os.path.exists(dbc_path):
+        self._parse_file(dbc_path)
+      else:
+        # try in-memory generated DBC
+        generated = get_generated_dbcs()
+        content = generated.get(name)
+        if content is None:
+          raise FileNotFoundError(f"DBC not found: {name}")
+        self._parse_content(name, content)
 
-    self._parse(dbc_path)
+  def _parse_file(self, path: str):
-
-  def _parse(self, path: str):
     self.name = os.path.basename(path).replace(".dbc", "")
     with open(path) as f:
       lines = f.readlines()
+    self._parse_lines(lines)
+
+  def _parse_content(self, name: str, content: str):
+    self.name = name
+    lines = content.splitlines(keepends=True)
+    self._parse_lines(lines)
+
+  def _parse_lines(self, lines: list[str]):
 
     checksum_state = get_checksum_state(self.name)
     be_bits = [j + i * 8 for i in range(64) for j in range(7, -1, -1)]

opendbc/can/tests/__init__.py

@@ -1,8 +1,9 @@
 import glob
 import os
 
-from opendbc import DBC_PATH
+from opendbc import DBC_PATH, get_generated_dbcs
 
-ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in
+static_dbcs = [os.path.basename(dbc).split('.')[0] for dbc in
-            glob.glob(f"{DBC_PATH}/*.dbc")]
+               glob.glob(f"{DBC_PATH}/*.dbc")]
+ALL_DBCS = sorted(set(static_dbcs + list(get_generated_dbcs().keys())))
 TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc"))

opendbc/dbc/SConscript

@@ -1,31 +0,0 @@
-import os
-from pathlib import Path
-
-env = Environment(ENV=os.environ)
-
-generator = File("generator/generator.py")
-
-source_files = [
-  File(str(f))
-  for f in Path("generator").rglob("*")
-  if f.is_file() and f.suffix in {".py", ".dbc"}
-]
-
-output_files = [
-  f.name.replace(".dbc", "_generated.dbc")
-  for f in Path("generator").rglob("*.dbc")
-  if not f.name.startswith("_")
-]
-
-# include DBCs generated by python scripts
-output_files += [
-  f.name.replace(".py", "_generated.dbc")
-  for f in Path("generator").rglob("*.py")
-  if not f.name.startswith(("_", "test_")) and f.name != "generator.py"
-]
-
-generated = env.Command(
-  target=list(set(output_files)),
-  source=[generator] + source_files,
-  action="python3 ${SOURCES[0]}",
-)

opendbc/dbc/generator/chrysler/_stellantis_common_ram.py

@@ -31,13 +31,15 @@ chrysler_to_ram = {
   },
 }
 
-if __name__ == "__main__":
+
+def generate():
   src = '_stellantis_common.dbc'
   chrysler_path = os.path.dirname(os.path.realpath(__file__))
+  result = {}
 
   for out, addr_lookup in chrysler_to_ram.items():
-    with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f, open(os.path.join(chrysler_path, out), 'w', encoding='utf-8') as out_f:
+    with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f:
-      out_f.write(f'CM_ "Generated from {src}"\n\n')
+      parts = [f'CM_ "Generated from {src}"\n\n']
 
       wrote_addrs = set()
       for line in in_f.readlines():
@@ -45,10 +47,13 @@ if __name__ == "__main__":
           sl = line.split(' ')
           addr = int(sl[1])
           wrote_addrs.add(addr)
-
           sl[1] = str(addr_lookup.get(addr, addr))
           line = ' '.join(sl)
-        out_f.write(line)
+        parts.append(line)
 
       missing_addrs = set(addr_lookup.keys()) - wrote_addrs
       assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
+
+    result[out] = ''.join(parts)
+
+  return result

opendbc/dbc/generator/generator.py

@@ -1,65 +1,92 @@
 #!/usr/bin/env python3
+import importlib
 import os
 import re
-import glob
+from pathlib import Path
-import subprocess
 
 generator_path = os.path.dirname(os.path.realpath(__file__))
-opendbc_root = os.path.join(generator_path, '../')
 include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n')
-generated_suffix = '_generated.dbc'
 
 
-def read_dbc(src_dir: str, filename: str) -> str:
+def _read_dbc(src_dir: str, filename: str, extra_files: dict[str, str] | None = None) -> str:
+  if extra_files and filename in extra_files:
+    return extra_files[filename]
   with open(os.path.join(src_dir, filename), encoding='utf-8') as file_in:
     return file_in.read()
 
 
-def create_dbc(src_dir: str, filename: str, output_path: str):
+def _create_dbc_content(src_dir: str, filename: str, extra_files: dict[str, str] | None = None) -> str:
-  dbc_file_in = read_dbc(src_dir, filename)
+  dbc_file_in = _read_dbc(src_dir, filename, extra_files)
-
   includes = include_pattern.findall(dbc_file_in)
 
-  output_filename = filename.replace('.dbc', generated_suffix)
+  parts = ['CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n']
-  output_file_location = os.path.join(output_path, output_filename)
+  for include_filename in includes:
+    parts.append(f'\n\nCM_ "Imported file {include_filename} starts here";\n')
+    parts.append(_read_dbc(src_dir, include_filename, extra_files))
 
-  with open(output_file_location, 'w', encoding='utf-8') as dbc_file_out:
+  parts.append(f'\nCM_ "{filename} starts here";\n')
-    dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n')
+  core_dbc = include_pattern.sub('', dbc_file_in)
+  parts.append(core_dbc)
 
-    for include_filename in includes:
+  return ''.join(parts)
-      include_file_header = f'\n\nCM_ "Imported file {include_filename} starts here";\n'
-      dbc_file_out.write(include_file_header)
-
-      include_file = read_dbc(src_dir, include_filename)
-      dbc_file_out.write(include_file)
-
-    dbc_file_out.write(f'\nCM_ "{filename} starts here";\n')
-
-    core_dbc = include_pattern.sub('', dbc_file_in)
-    dbc_file_out.write(core_dbc)
 
 
-def create_all(output_path: str):
+def _collect_script_outputs() -> dict[str, dict[str, str]]:
-  # clear out old DBCs
+  """Import and call generate() from each sub-generator script.
-  for f in glob.glob(f"{output_path}/*{generated_suffix}"):
+  Returns {dir_name: {filename: content}}."""
-    os.remove(f)
+  outputs: dict[str, dict[str, str]] = {}
 
-  # run python generator scripts first
+  for py_file in sorted(Path(generator_path).rglob("*.py")):
-  for f in glob.glob(f"{generator_path}/*/*.py"):
+    if py_file.name.startswith("test_") or py_file.name == "generator.py":
-    subprocess.check_call(f)
+      continue
 
+    dir_name = py_file.parent.name
+    module_name = f"opendbc.dbc.generator.{dir_name}.{py_file.stem}"
+    mod = importlib.import_module(module_name)
+    if hasattr(mod, 'generate'):
+      outputs.setdefault(dir_name, {}).update(mod.generate())
+
+  return outputs
+
+
+def generate_all() -> dict[str, str]:
+  """Generate all DBC content in memory. Returns {name: content} where name has no .dbc extension."""
+  script_outputs = _collect_script_outputs()
+
+  result = {}
   for src_dir, _, filenames in os.walk(generator_path):
     if src_dir == generator_path:
       continue
 
-    #print(src_dir)
+    dir_name = os.path.basename(src_dir)
-    for filename in filenames:
+    extra = script_outputs.get(dir_name, {})
-      if filename.startswith('_') or not filename.endswith('.dbc'):
-        continue
 
-      #print(filename)
+    # all non-_ .dbc files: on-disk templates + script-generated
-      create_dbc(src_dir, filename, output_path)
+    all_dbc_files = {f for f in filenames if f.endswith('.dbc') and not f.startswith('_')}
+    all_dbc_files |= {f for f in extra if not f.startswith('_')}
+
+    for filename in sorted(all_dbc_files):
+      output_name = filename.replace('.dbc', '_generated')
+      content = _create_dbc_content(src_dir, filename, extra)
+      result[output_name] = content
+
+  return result
+
+
+def create_all(output_path: str):
+  """Generate all DBC files and write them to output_path (for backward compatibility)."""
+  import glob
+  generated_suffix = '_generated.dbc'
+
+  # clear out old generated DBCs
+  for f in glob.glob(os.path.join(output_path, f"*{generated_suffix}")):
+    os.remove(f)
+
+  for name, content in generate_all().items():
+    with open(os.path.join(output_path, name + '.dbc'), 'w', encoding='utf-8') as f:
+      f.write(content)
 
 
 if __name__ == "__main__":
+  opendbc_root = os.path.join(generator_path, '../')
   create_all(opendbc_root)

opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py

@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
 from collections import namedtuple
-import os
 
-if __name__ == "__main__":
+
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+def generate():
-  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  parts = []
-  with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
+  parts.append("""
-    f.write("""
 VERSION ""
 
 
@@ -45,8 +43,8 @@ BS_:
 BU_: XXX
 """)
 
-    for a in [0x100, 0x200]:
+  for a in [0x100, 0x200]:
-      f.write(f"""
+    parts.append(f"""
 BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR
  SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
  SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
@@ -108,63 +106,65 @@ BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR
  SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
 """)
 
-    # radar points are sent at 20 Hz in groups of 1 to 13 messages
+  # radar points are sent at 20 Hz in groups of 1 to 13 messages
-    # each message has 5 radar points for a total of 65 points max
+  # each message has 5 radar points for a total of 65 points max
-    # each radar point is 101 bits so the alignment is not consistent
+  # each radar point is 101 bits so the alignment is not consistent
-    RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
+  RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
-    radar_point_signals = (
+  radar_point_signals = (
-      RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
+    RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
-      RadarPointSignal("", 21, 2, 1, 0),
+    RadarPointSignal("", 21, 2, 1, 0),
-      RadarPointSignal("", 23, 8, 1/512, -127/512),
+    RadarPointSignal("", 23, 8, 1/512, -127/512),
-      RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
+    RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
-      RadarPointSignal("", 44, 2, 1, 0),
+    RadarPointSignal("", 44, 2, 1, 0),
-      RadarPointSignal("", 46, 2, 1, 0),
+    RadarPointSignal("", 46, 2, 1, 0),
-      RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
+    RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
-      RadarPointSignal("", 60, 2, 1, 0),
+    RadarPointSignal("", 60, 2, 1, 0),
-      RadarPointSignal("", 62, 1, 1, 0),
+    RadarPointSignal("", 62, 1, 1, 0),
-      RadarPointSignal("", 63, 7, 1, 0),
+    RadarPointSignal("", 63, 7, 1, 0),
-      RadarPointSignal("", 70, 1, 1, 0),
+    RadarPointSignal("", 70, 1, 1, 0),
-      RadarPointSignal("", 71, 6, 1, 0),
+    RadarPointSignal("", 71, 6, 1, 0),
-      RadarPointSignal("", 77, 2, 1, 0),
+    RadarPointSignal("", 77, 2, 1, 0),
-      RadarPointSignal("", 79, 8, 1/512, -127/512),
+    RadarPointSignal("", 79, 8, 1/512, -127/512),
-      RadarPointSignal("", 87, 1, 1, 0),
+    RadarPointSignal("", 87, 1, 1, 0),
-      RadarPointSignal("", 88, 2, 1, 0),
+    RadarPointSignal("", 88, 2, 1, 0),
-      RadarPointSignal("", 90, 3, 1, 0),
+    RadarPointSignal("", 90, 3, 1, 0),
-      # last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
+    # last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
-      RadarPointSignal("", 93, 6, 1, 0),
+    RadarPointSignal("", 93, 6, 1, 0),
-      RadarPointSignal("", 99, 8, 1, 0),
+    RadarPointSignal("", 99, 8, 1, 0),
-      RadarPointSignal("", 107, 1, 1, 0),
+    RadarPointSignal("", 107, 1, 1, 0),
-    )
+  )
-    radar_point_bit_count = sum([s.length for s in radar_point_signals])
+  radar_point_bit_count = sum([s.length for s in radar_point_signals])
 
-    for a in [0x101, 0x201]:
+  for a in [0x101, 0x201]:
-      f.write(f"""
+    parts.append(f"""
 BO_ {a} RADAR_POINTS_0x{a:x}: 64 RADAR
  SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
  SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
 """)
-      bit_idx = radar_point_signals[0].start
+    bit_idx = radar_point_signals[0].start
-      for i in range(5):
+    for i in range(5):
-        signal_idx = 1
+      signal_idx = 1
-        for sig in radar_point_signals:
+      for sig in radar_point_signals:
-          if sig.name:
+        if sig.name:
-            sig_name = f"POINT_{i+1}_{sig.name}"
+          sig_name = f"POINT_{i+1}_{sig.name}"
-          else:
+        else:
-            sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
+          sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
-          signal_idx += 1
+        signal_idx += 1
 
-          sig_start_idx = i * radar_point_bit_count + sig.start
+        sig_start_idx = i * radar_point_bit_count + sig.start
-          assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}"
+        assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}"
-          min_val = round(sig.offset, 10)
+        min_val = round(sig.offset, 10)
-          max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10)
+        max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10)
 
-          f.write(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n")
+        parts.append(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n")
-          bit_idx += sig.length
+        bit_idx += sig.length
 
-    # checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages)
+  # checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages)
-    # ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False)
+  # ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False)
-    for a in [0x104, 0x204]:
+  for a in [0x104, 0x204]:
-      f.write(f"""
+    parts.append(f"""
 BO_ {a} RADAR_POINTS_CHECKSUM_0x{a:x}: 3 RADAR
  SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
 """)
+
+  return {"hyundai_kia_mando_corner_radar.dbc": "".join(parts)}

opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import os
 
-if __name__ == "__main__":
+
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+def generate():
-  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  parts = []
-  with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
+  parts.append("""
-    f.write("""
 VERSION ""
 
 
@@ -44,9 +42,9 @@ BS_:
 BU_: XXX
     """)
 
-    # note: 0x501/0x502 seem to be special in 0x5XX range
+  # note: 0x501/0x502 seem to be special in 0x5XX range
-    for a in range(0x500, 0x500 + 32):
+  for a in range(0x500, 0x500 + 32):
-        f.write(f"""
+    parts.append(f"""
 BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
  SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
  SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -59,3 +57,5 @@ BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
  SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
  SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
     """)
+
+  return {"hyundai_kia_mando_front_radar.dbc": "".join(parts)}

opendbc/dbc/generator/rivian/rivian_mando_front_radar.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import os
 
-if __name__ == "__main__":
+
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+def generate():
-  rivian_path = os.path.dirname(os.path.realpath(__file__))
+  parts = []
-  with open(os.path.join(rivian_path, dbc_name), "w", encoding='utf-8') as f:
+  parts.append("""
-    f.write("""
 VERSION ""
 
 
@@ -44,8 +42,8 @@ BS_:
 BU_: XXX
     """)
 
-    for a in range(0x500, 0x500 + 32):
+  for a in range(0x500, 0x500 + 32):
-        f.write(f"""
+    parts.append(f"""
 BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
@@ -57,8 +55,10 @@ BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
  SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "m/s" XXX
     """)
 
-    for a in range(0x500, 0x500 + 32):
+  for a in range(0x500, 0x500 + 32):
-        f.write(f"""
+    parts.append(f"""
 VAL_ {a} STATE 0 "Empty" 1 "New" 2 "New_updated" 3 "Updated" 4 "Coasting" 7 "New_coasting" ;
 VAL_ {a} MODE 0 "None" 1 "SRR" 2 "LRR" 3 "SRR_and_LRR" ;
     """)
+
+  return {"rivian_mando_front_radar.dbc": "".join(parts)}

opendbc/dbc/generator/tesla/tesla_radar_bosch.py

@@ -1,13 +1,11 @@
 #!/usr/bin/env python3
 
-import os
 from opendbc.dbc.generator.tesla._radar_common import get_radar_point_definition, get_val_definition
 
-if __name__ == "__main__":
+
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+def generate():
-  tesla_path = os.path.dirname(os.path.realpath(__file__))
+  parts = []
-  with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f:
+  parts.append("""
-    f.write("""
 VERSION ""
 
 NS_ :
@@ -133,15 +131,15 @@ BO_ 1281 TeslaRadarAlertMatrix: 8 Radar
  SG_ unused62 : 62|2@1+ (1,0) [0|3] ""  Autopilot
 """)
 
-    M_RANGE = range(0x310, 0x36D + 1, 3)
+  M_RANGE = range(0x310, 0x36D + 1, 3)
-    for i, base_id in enumerate(M_RANGE):
+  for i, base_id in enumerate(M_RANGE):
-      f.write(get_radar_point_definition(base_id, f"RadarPoint{i}"))
+    parts.append(get_radar_point_definition(base_id, f"RadarPoint{i}"))
 
-    L_RANGE = range(0x371, 0x37D + 1, 3)
+  L_RANGE = range(0x371, 0x37D + 1, 3)
-    for i, base_id in enumerate(L_RANGE):
+  for i, base_id in enumerate(L_RANGE):
-      f.write(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}"))
+    parts.append(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}"))
 
-    f.write("""
+  parts.append("""
 BO_ 697 VIN_VIP_405HS: 8 Autopilot
  SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] ""  Radar
  SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar
@@ -278,5 +276,7 @@ BA_ "GenMsgCycleTime" BO_ 729 1000;
 
 VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ;""")
 
-    for base_id in list(M_RANGE) + list(L_RANGE):
+  for base_id in list(M_RANGE) + list(L_RANGE):
-      f.write(get_val_definition(base_id))
+    parts.append(get_val_definition(base_id))
+
+  return {"tesla_radar_bosch.dbc": "".join(parts)}

opendbc/dbc/generator/tesla/tesla_radar_continental.py

@@ -1,13 +1,11 @@
 #!/usr/bin/env python3
 
-import os
 from opendbc.dbc.generator.tesla._radar_common import get_radar_point_definition, get_val_definition
 
-if __name__ == "__main__":
+
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+def generate():
-  tesla_path = os.path.dirname(os.path.realpath(__file__))
+  parts = []
-  with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f:
+  parts.append("""
-    f.write("""
 VERSION ""
 
 NS_ :
@@ -66,12 +64,14 @@ BO_ 1601 UDS_radcRequest: 8 Diag
    SG_ UDS_radcRequestData : 7|64@0+ (1,0) [0|1.84467e+19] "" Radar
 """)
 
-    POINT_RANGE = range(0x410, 0x45E + 1, 2)
+  POINT_RANGE = range(0x410, 0x45E + 1, 2)
-    for i, base_id in enumerate(POINT_RANGE):
+  for i, base_id in enumerate(POINT_RANGE):
-      f.write(get_radar_point_definition(base_id, f"RadarPoint{i}"))
+    parts.append(get_radar_point_definition(base_id, f"RadarPoint{i}"))
 
-    f.write("""
+  parts.append("""
 VAL_ 1025 lowPowerMode 1 "COMMANDED_LOW_POWER" 0 "DEFAULT_LOW_POWER" 2 "NORMAL_POWER" 3 "SNA";""")
 
-    for base_id in list(POINT_RANGE):
+  for base_id in list(POINT_RANGE):
-      f.write(get_val_definition(base_id))
+    parts.append(get_val_definition(base_id))
+
+  return {"tesla_radar_continental.dbc": "".join(parts)}

opendbc/safety/tests/libsafety/SConscript

@@ -1,45 +0,0 @@
-import os
-import platform
-
-system = platform.system()
-
-env = Environment(
-  CFLAGS=[
-    '-Wall',
-    "-Wextra",
-    '-Werror',
-    '-nostdlib',
-    '-fno-builtin',
-    '-std=gnu11',
-    '-Wfatal-errors',
-    '-Wno-pointer-to-int-cast',
-    '-g',
-    '-O0',
-    '-fno-omit-frame-pointer',
-    '-DALLOW_DEBUG',
-  ],
-  LINKFLAGS=[
-    '-fsanitize=undefined',
-    '-fno-sanitize-recover=undefined',
-  ],
-  CPPPATH=["#"],
-  tools=["default", "compilation_db"],
-)
-
-# add coverage if available
-# Use TryCompile (not TryLink) because -nostdlib in CFLAGS breaks the link probe.
-conf = Configure(env, log_file=os.devnull)
-prev = env['CFLAGS'][:]
-env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage'])
-has_coverage = conf.TryCompile('int x;\n', '.c')
-env['CFLAGS'] = prev
-if has_coverage:
-  env.Append(CFLAGS=['-fprofile-arcs', '-ftest-coverage'])
-  env.Append(LINKFLAGS=['-fprofile-arcs', '-ftest-coverage'])
-env = conf.Finish()
-
-safety = env.SharedObject("safety.os", "safety.c")
-libsafety = env.SharedLibrary("libsafety.so", [safety])
-
-# GCC-style note file is generated by compiler, allow scons to clean it up
-env.SideEffect("safety.gcno", safety)

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -1,10 +1,40 @@
 import os
+import subprocess
+import tempfile
+from pathlib import Path
+
 from cffi import FFI
 
 from opendbc.safety import LEN_TO_DLC
 
 libsafety_dir = os.path.dirname(os.path.abspath(__file__))
 
+
+def _build_libsafety() -> str:
+  """Compile libsafety.so to a temp file and return its path."""
+  root = str(Path(libsafety_dir).parents[3])
+  safety_c = os.path.join(libsafety_dir, "safety.c")
+  safety_os = os.path.join(libsafety_dir, "safety.os")
+
+  cflags = [
+    '-Wall', '-Wextra', '-Werror', '-nostdlib', '-fno-builtin',
+    '-std=gnu11', '-Wfatal-errors', '-Wno-pointer-to-int-cast',
+    '-g', '-O0', '-fno-omit-frame-pointer', '-DALLOW_DEBUG',
+    '-fprofile-arcs', '-ftest-coverage',
+  ]
+  ldflags = [
+    '-fsanitize=undefined', '-fno-sanitize-recover=undefined',
+    '-fprofile-arcs', '-ftest-coverage',
+  ]
+
+  fd, libsafety_so = tempfile.mkstemp(suffix='.so')
+  os.close(fd)
+
+  subprocess.check_call(['cc', '-fPIC', *cflags, '-I', root, '-c', safety_c, '-o', safety_os])
+  subprocess.check_call(['cc', '-shared', safety_os, '-o', libsafety_so, *ldflags])
+  return libsafety_so
+
+
 ffi = FFI()
 
 ffi.cdef("""
@@ -83,12 +113,18 @@ int mutation_get_active_mutant(void);
 
 class LibSafety:
   pass
-libsafety: LibSafety = ffi.dlopen(os.path.join(libsafety_dir, "libsafety.so"))
+libsafety: LibSafety
 
 def load(path):
   global libsafety
   libsafety = ffi.dlopen(str(path))
 
+def __getattr__(name):
+  if name == "libsafety":
+    load(_build_libsafety())
+    return libsafety
+  raise AttributeError(name)
+
 def make_CANPacket(addr: int, bus: int, dat):
   ret = ffi.new('CANPacket_t *')
   ret[0].extended = 1 if addr >= 0x800 else 0

opendbc/safety/tests/test.sh

@@ -6,9 +6,8 @@ cd $DIR
 
 source ../../../setup.sh
 
-# reset coverage data and generate gcc note file
+# reset coverage data
 rm -f ./libsafety/*.gcda
-scons -j$(nproc) -D
 
 # run safety tests and generate coverage data
 python -m unittest discover -s . -p 'test_*.py' -t ../../../

pyproject.toml

@@ -10,7 +10,6 @@ requires-python = ">=3.11,<3.13"  # pycapnp doesn't work with 3.13
 urls = { "homepage" = "https://github.com/commaai/opendbc" }
 
 dependencies = [
-  "scons",
   "numpy",
   "tqdm",
   "pycapnp==2.1.0",
@@ -90,9 +89,6 @@ ignore = [
 ]
 flake8-implicit-str-concat.allow-multiline=false
 
-[tool.ruff.lint.per-file-ignores]
-"site_scons/*" = ["ALL"]
-
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "numpy.mean".msg = "Sum and divide. np.mean is slow"
 

test.sh

@@ -9,13 +9,10 @@ source ./setup.sh
 # *** uv lockfile check ***
 uv lock --check
 
-# *** build ***
-scons -j8
-
 # *** lint + test ***
 lefthook run test
 
 # *** all done ***
 GREEN='\033[0;32m'
 NC='\033[0m'
-printf "\n${GREEN}All good!${NC} Finished build, lint, and test in ${SECONDS}s\n"
+printf "\n${GREEN}All good!${NC} Finished lint and test in ${SECONDS}s\n"

uv.lock

@@ -384,7 +384,6 @@ dependencies = [
     { name = "numpy" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
-    { name = "scons" },
     { name = "tqdm" },
 ]
 
@@ -428,7 +427,6 @@ requires-dist = [
     { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pycryptodome" },
     { name = "ruff", marker = "extra == 'testing'" },
-    { name = "scons" },
     { name = "tqdm" },
     { name = "tree-sitter", marker = "extra == 'testing'" },
     { name = "tree-sitter-c", marker = "extra == 'testing'" },
@@ -547,15 +545,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/6d/78/097c0798b1dab9f8affe73da9642bb4500e098cb27fd8dc9724816ac747b/ruff-0.15.2-py3-none-win_arm64.whl", hash = "sha256:cabddc5822acdc8f7b5527b36ceac55cc51eec7b1946e60181de8fe83ca8876e", size = 10941649, upload-time = "2026-02-19T22:32:18.108Z" },
 ]
 
-[[package]]
-name = "scons"
-version = "4.10.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/7d/c9/2f430bb39e4eccba32ce8008df4a3206df651276422204e177a09e12b30b/scons-4.10.1.tar.gz", hash = "sha256:99c0e94a42a2c1182fa6859b0be697953db07ba936ecc9817ae0d218ced20b15", size = 3258403, upload-time = "2025-11-16T22:43:39.258Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ce/bf/931fb9fbb87234c32b8b1b1c15fba23472a10777c12043336675633809a7/scons-4.10.1-py3-none-any.whl", hash = "sha256:bd9d1c52f908d874eba92a8c0c0a8dcf2ed9f3b88ab956d0fce1da479c4e7126", size = 4136069, upload-time = "2025-11-16T22:43:35.933Z" },
-]
-
 [[package]]
 name = "sortedcontainers"
 version = "2.4.0"