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try no scons (#3194)

Browse Source 
* try no scons

* lil more

* lil more

* lazy

* fix ty
This commit is contained in:
Adeeb Shihadeh
2026-03-11 11:23:38 -07:00
committed by GitHub
parent 2d52887bee
commit ddeba888a3
22 changed files with 252 additions and 274 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
.github/workflows/tests.yml vendored
View File

@@ -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

1
.github/workflows/update-cars-docs.yml vendored
View File

@@ -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

5
.gitignore vendored
View File

@@ -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/

5
SConscript
View File

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

7
SConstruct
View File

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

11
opendbc/__init__.py
View File

@@ -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

28
opendbc/can/dbc.py
View File

@@ -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 not os.path.exists(dbc_path):
if os.path.exists(name):
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(self, path: str):
def _parse_file(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)]

7
opendbc/can/tests/__init__.py
View File

@@ -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
glob.glob(f"{DBC_PATH}/*.dbc")]
static_dbcs = [os.path.basename(dbc).split('.')[0] for dbc in
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"))

31
opendbc/dbc/SConscript
View File

@@ -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]}",
)

15
opendbc/dbc/generator/chrysler/_stellantis_common_ram.py
View File

@@ -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:
out_f.write(f'CM_ "Generated from {src}"\n\n')
with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f:
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

99
opendbc/dbc/generator/generator.py
View File

@@ -1,65 +1,92 @@
#!/usr/bin/env python3
import importlib
import os
import re
import glob
import subprocess
from pathlib import Path
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):
dbc_file_in = read_dbc(src_dir, filename)
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, extra_files)
includes = include_pattern.findall(dbc_file_in)
output_filename = filename.replace('.dbc', generated_suffix)
output_file_location = os.path.join(output_path, output_filename)
parts = ['CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n']
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:
dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n')
parts.append(f'\nCM_ "{filename} starts here";\n')
core_dbc = include_pattern.sub('', dbc_file_in)
parts.append(core_dbc)
for include_filename in includes:
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)
return ''.join(parts)
def create_all(output_path: str):
# clear out old DBCs
for f in glob.glob(f"{output_path}/*{generated_suffix}"):
os.remove(f)
def _collect_script_outputs() -> dict[str, dict[str, str]]:
"""Import and call generate() from each sub-generator script.
Returns {dir_name: {filename: content}}."""
outputs: dict[str, dict[str, str]] = {}
# run python generator scripts first
for f in glob.glob(f"{generator_path}/*/*.py"):
subprocess.check_call(f)
for py_file in sorted(Path(generator_path).rglob("*.py")):
if py_file.name.startswith("test_") or py_file.name == "generator.py":
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)
for filename in filenames:
if filename.startswith('_') or not filename.endswith('.dbc'):
continue
dir_name = os.path.basename(src_dir)
extra = script_outputs.get(dir_name, {})
#print(filename)
create_dbc(src_dir, filename, output_path)
# all non-_ .dbc files: on-disk templates + script-generated
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)

114
opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.py
View File

@@ -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")
hyundai_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
f.write("""
def generate():
parts = []
parts.append("""
VERSION ""
@@ -45,8 +43,8 @@ BS_:
BU_: XXX
""")
for a in [0x100, 0x200]:
f.write(f"""
for a in [0x100, 0x200]:
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
# 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
RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
radar_point_signals = (
RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
RadarPointSignal("", 21, 2, 1, 0),
RadarPointSignal("", 23, 8, 1/512, -127/512),
RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
RadarPointSignal("", 44, 2, 1, 0),
RadarPointSignal("", 46, 2, 1, 0),
RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
RadarPointSignal("", 60, 2, 1, 0),
RadarPointSignal("", 62, 1, 1, 0),
RadarPointSignal("", 63, 7, 1, 0),
RadarPointSignal("", 70, 1, 1, 0),
RadarPointSignal("", 71, 6, 1, 0),
RadarPointSignal("", 77, 2, 1, 0),
RadarPointSignal("", 79, 8, 1/512, -127/512),
RadarPointSignal("", 87, 1, 1, 0),
RadarPointSignal("", 88, 2, 1, 0),
RadarPointSignal("", 90, 3, 1, 0),
# last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
RadarPointSignal("", 93, 6, 1, 0),
RadarPointSignal("", 99, 8, 1, 0),
RadarPointSignal("", 107, 1, 1, 0),
)
radar_point_bit_count = sum([s.length for s in radar_point_signals])
# 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 radar point is 101 bits so the alignment is not consistent
RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
radar_point_signals = (
RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
RadarPointSignal("", 21, 2, 1, 0),
RadarPointSignal("", 23, 8, 1/512, -127/512),
RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
RadarPointSignal("", 44, 2, 1, 0),
RadarPointSignal("", 46, 2, 1, 0),
RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
RadarPointSignal("", 60, 2, 1, 0),
RadarPointSignal("", 62, 1, 1, 0),
RadarPointSignal("", 63, 7, 1, 0),
RadarPointSignal("", 70, 1, 1, 0),
RadarPointSignal("", 71, 6, 1, 0),
RadarPointSignal("", 77, 2, 1, 0),
RadarPointSignal("", 79, 8, 1/512, -127/512),
RadarPointSignal("", 87, 1, 1, 0),
RadarPointSignal("", 88, 2, 1, 0),
RadarPointSignal("", 90, 3, 1, 0),
# last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
RadarPointSignal("", 93, 6, 1, 0),
RadarPointSignal("", 99, 8, 1, 0),
RadarPointSignal("", 107, 1, 1, 0),
)
radar_point_bit_count = sum([s.length for s in radar_point_signals])
for a in [0x101, 0x201]:
f.write(f"""
for a in [0x101, 0x201]:
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
for i in range(5):
signal_idx = 1
for sig in radar_point_signals:
if sig.name:
sig_name = f"POINT_{i+1}_{sig.name}"
else:
sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
signal_idx += 1
bit_idx = radar_point_signals[0].start
for i in range(5):
signal_idx = 1
for sig in radar_point_signals:
if sig.name:
sig_name = f"POINT_{i+1}_{sig.name}"
else:
sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
signal_idx += 1
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}"
min_val = round(sig.offset, 10)
max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10)
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}"
min_val = round(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")
bit_idx += sig.length
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
# 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)
for a in [0x104, 0x204]:
f.write(f"""
# 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)
for a in [0x104, 0x204]:
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)}

18
opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.py
View File

@@ -1,11 +1,9 @@
#!/usr/bin/env python3
import os
if __name__ == "__main__":
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
hyundai_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f:
f.write("""
def generate():
parts = []
parts.append("""
VERSION ""
@@ -44,9 +42,9 @@ BS_:
BU_: XXX
""")
# note: 0x501/0x502 seem to be special in 0x5XX range
for a in range(0x500, 0x500 + 32):
f.write(f"""
# note: 0x501/0x502 seem to be special in 0x5XX range
for a in range(0x500, 0x500 + 32):
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)}

20
opendbc/dbc/generator/rivian/rivian_mando_front_radar.py
View File

@@ -1,11 +1,9 @@
#!/usr/bin/env python3
import os
if __name__ == "__main__":
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
rivian_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(rivian_path, dbc_name), "w", encoding='utf-8') as f:
f.write("""
def generate():
parts = []
parts.append("""
VERSION ""
@@ -44,8 +42,8 @@ BS_:
BU_: XXX
""")
for a in range(0x500, 0x500 + 32):
f.write(f"""
for a in range(0x500, 0x500 + 32):
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):
f.write(f"""
for a in range(0x500, 0x500 + 32):
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)}

30
opendbc/dbc/generator/tesla/tesla_radar_bosch.py
View File

@@ -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")
tesla_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f:
f.write("""
def generate():
parts = []
parts.append("""
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)
for i, base_id in enumerate(M_RANGE):
f.write(get_radar_point_definition(base_id, f"RadarPoint{i}"))
M_RANGE = range(0x310, 0x36D + 1, 3)
for i, base_id in enumerate(M_RANGE):
parts.append(get_radar_point_definition(base_id, f"RadarPoint{i}"))
L_RANGE = range(0x371, 0x37D + 1, 3)
for i, base_id in enumerate(L_RANGE):
f.write(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}"))
L_RANGE = range(0x371, 0x37D + 1, 3)
for i, base_id in enumerate(L_RANGE):
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):
f.write(get_val_definition(base_id))
for base_id in list(M_RANGE) + list(L_RANGE):
parts.append(get_val_definition(base_id))
return {"tesla_radar_bosch.dbc": "".join(parts)}

24
opendbc/dbc/generator/tesla/tesla_radar_continental.py
View File

@@ -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")
tesla_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f:
f.write("""
def generate():
parts = []
parts.append("""
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)
for i, base_id in enumerate(POINT_RANGE):
f.write(get_radar_point_definition(base_id, f"RadarPoint{i}"))
POINT_RANGE = range(0x410, 0x45E + 1, 2)
for i, base_id in enumerate(POINT_RANGE):
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):
f.write(get_val_definition(base_id))
for base_id in list(POINT_RANGE):
parts.append(get_val_definition(base_id))
return {"tesla_radar_continental.dbc": "".join(parts)}

45
opendbc/safety/tests/libsafety/SConscript
View File

@@ -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)

38
opendbc/safety/tests/libsafety/libsafety_py.py
View File

@@ -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

3
opendbc/safety/tests/test.sh
View File

@@ -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 ../../../

4
pyproject.toml
View File

@@ -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"

5
test.sh
View File

@@ -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"

11
uv.lock generated
View File

@@ -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"