Revert "try removing submodule symlinks (#38310)"

This reverts commit b827c0f55e.

.gitignore

@@ -15,13 +15,6 @@ a.out
 .cache/
 bin/
 
-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
-
 *.mp4
 *.dylib
 *.DSYM

SConstruct

@@ -27,24 +27,6 @@ AddOption('--minimal',
           default=(not TICI and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-# Package symlinks are no longer tracked in git (created at launch on device).
-# Create them here so PYTHONPATH-based imports find in-tree packages and
-# Cython extensions during the build (especially release builds).
-_repo_root = Dir('#').abspath
-for _pkg, _target in (
-  ('msgq', 'msgq_repo/msgq'),
-  ('opendbc', 'opendbc_repo/opendbc'),
-  ('rednose', 'rednose_repo/rednose'),
-  ('teleoprtc', 'teleoprtc_repo/teleoprtc'),
-  ('tinygrad', 'tinygrad_repo/tinygrad'),
-):
-  _link = os.path.join(_repo_root, _pkg)
-  if os.path.lexists(_link):
-    if os.path.islink(_link) and os.readlink(_link) == _target:
-      continue
-    os.unlink(_link)
-  os.symlink(_target, _link)
-
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -146,10 +128,7 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
     "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#msgq",
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
@@ -159,13 +138,13 @@ env = Environment(
     "#openpilot/common",
     "#msgq_repo",
     "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
+    "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
+  REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -270,7 +249,7 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
+SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([

launch_chffrplus.sh

@@ -70,14 +70,6 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
-  # submodule package symlinks for PYTHONPATH imports on device.
-  # on PC these come from editable installs via pyproject.toml / uv.
-  ln -sfn msgq_repo/msgq msgq
-  ln -sfn opendbc_repo/opendbc opendbc
-  ln -sfn rednose_repo/rednose rednose
-  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-  ln -sfn tinygrad_repo/tinygrad tinygrad
-
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init

msgq

@@ -0,0 +1 @@
+msgq_repo/msgq

opendbc

@@ -0,0 +1 @@
+opendbc_repo/opendbc

openpilot/selfdrive/test/setup_device_ci.sh

@@ -124,12 +124,4 @@ else
   safe_checkout
 fi
 
-# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
-cd $TEST_DIR
-ln -sfn msgq_repo/msgq msgq
-ln -sfn opendbc_repo/opendbc opendbc
-ln -sfn rednose_repo/rednose rednose
-ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-ln -sfn tinygrad_repo/tinygrad tinygrad
-
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"

openpilot/tools/cabana/SConscript

@@ -76,7 +76,7 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
 cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 def write_assets_qrc(target, source, env):

openpilot/tools/jotpluggler/layout.cc

@@ -276,7 +276,7 @@ std::string default_dbc_template() {
 DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
   const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
   const std::array<DbcEditorSource, 2> candidates = {{
-    {.path = repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
     {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
   }};
   for (const DbcEditorSource &candidate : candidates) {

openpilot/tools/jotpluggler/sketch_layout.cc

@@ -385,7 +385,7 @@ std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
 std::vector<std::string> available_dbc_names_impl() {
   std::set<std::string> names;
   for (const fs::path &dbc_dir : {
-         repo_root() / "opendbc_repo" / "opendbc" / "dbc",
+         repo_root() / "opendbc" / "dbc",
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
        }) {
     if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
@@ -407,7 +407,7 @@ std::vector<std::string> available_dbc_names_impl() {
 
 fs::path resolve_dbc_path(const std::string &dbc_name) {
   for (const fs::path &candidate : {
-         repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "opendbc" / "dbc" / (dbc_name + ".dbc"),
          repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
        }) {
     if (fs::exists(candidate)) return candidate;

rednose

@@ -0,0 +1 @@
+rednose_repo/rednose

teleoprtc

@@ -0,0 +1 @@
+teleoprtc_repo/teleoprtc

tinygrad

@@ -0,0 +1 @@
+tinygrad_repo/tinygrad