no docker (#1081)

* cleanup dependencies

* all

* install

* less

* try this

* slimmm

* skip docker

* silence that one

* disable for now

* e

* fix build

* bring that back

* not ready yet

.github/workflows/tests.yml

@@ -6,10 +6,9 @@ on:
       - master
   pull_request:
 
-env:
-  RUN: docker run -e PYTHONWARNINGS="error,default::DeprecationWarning" --shm-size 1G --rm opendbc /bin/bash -c
-  BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from type=registry,ref=ghcr.io/commaai/opendbc:latest -t opendbc -f Dockerfile .
-  PYTHONWARNINGS: error
+# TODO: enable this
+#env:
+#  PYTHONWARNINGS: error,default::DeprecationWarning
 
 jobs:
   unit-tests:
@@ -22,22 +21,23 @@ jobs:
     #    run: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
     steps:
     - uses: actions/checkout@v4
-    - name: Build Docker image
-      run: eval "$BUILD"
-    - name: Unit tests
-      run: ${{ env.RUN }} "pytest -n logical --durations=0"
+    - uses: actions/setup-python@v5
+      with:
+        cache: 'pip'
+        python-version: '3.11'
+    - run: pip install -e .[testing,docs]
+    - run: scons -j$(nproc)
+    - run: pytest -n logical --durations=0
 
   static-analysis:
     name: static analysis
     runs-on: ubuntu-latest
     timeout-minutes: 1
-    env:
-      # package install has DeprecationWarnings
-      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
+        cache: 'pip'
         python-version: '3.11'
     - run: sudo apt install --no-install-recommends -y cppcheck
     - run: pip install -e .

.gitignore

@@ -1,3 +1,4 @@
+/build/
 .mypy_cache/
 *.pyc
 *.os
@@ -8,6 +9,7 @@
 .DS_Store
 .sconsign.dblite
 .hypothesis
+*.egg-info/
 
 opendbc/can/*.so
 opendbc/can/*.a

SConstruct

@@ -3,7 +3,6 @@ import subprocess
 import sysconfig
 import numpy as np
 
-zmq = 'zmq'
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 
 python_path = sysconfig.get_paths()['include']
@@ -28,8 +27,8 @@ ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
 
 env = Environment(
   ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
+  CC='gcc',
+  CXX='g++',
   CCFLAGS=[
     "-g",
     "-fPIC",
@@ -38,6 +37,7 @@ env = Environment(
     "-Werror",
     "-Wshadow",
     "-Wno-vla-cxx-extension",
+    "-Wno-unknown-warning-option",  # for compatibility across compiler versions
   ] + ccflags_asan,
   LDFLAGS=ldflags_asan,
   LINKFLAGS=ldflags_asan,
@@ -52,7 +52,7 @@ env = Environment(
 )
 
 common = ''
-Export('env', 'zmq', 'arch', 'common')
+Export('env', 'arch', 'common')
 
 envCython = env.Clone()
 envCython["CPPPATH"] += [np.get_include()]

opendbc/can/SConscript

@@ -1,30 +1,24 @@
 Import('env', 'envCython', 'common', 'arch')
 
-import os
-
 envDBC = env.Clone()
 dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("../dbc").abspath)
 envDBC['CXXFLAGS'] += [dbc_file_path]
 src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
-libs = [common, "zmq"]
 
 # shared library for openpilot
 LINKFLAGS = envDBC["LINKFLAGS"]
 if arch == "Darwin":
   LINKFLAGS += ["-Wl,-install_name,@loader_path/libdbc.dylib"]
-libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs, LINKFLAGS=LINKFLAGS)
+libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=[common, ], LINKFLAGS=LINKFLAGS)
 
 # static library for tools like cabana
-envDBC.Library('libdbc_static', src, LIBS=libs)
+envDBC.Library('libdbc_static', src, LIBS=[common, ])
 
 # Build packer and parser
 lenv = envCython.Clone()
-lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
-parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
-packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
-
-lenv.Depends(parser, libdbc)
-lenv.Depends(packer, libdbc)
+lenv["RPATH"] = [libdbc[0].dir.abspath, ]
+parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx', LIBS=[common, libdbc])
+packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx', LIBS=[common, libdbc])
 
 opendbc_python = Alias("opendbc_python", [parser, packer])
 

pyproject.toml

@@ -9,6 +9,31 @@ requires-python = ">=3.9"
 
 urls = { "homepage" = "https://github.com/commaai/opendbc" }
 
+dependencies = [
+  "scons",
+  "pyyaml",
+  "numpy",
+  "Cython",
+  "crcmod",
+  "pandacan@git+https://github.com/commaai/panda.git@master",
+]
+
+[project.optional-dependencies]
+testing = [
+  "ruff",
+  "pytest",
+  "pytest-mock",
+  "pytest-xdist",
+  "pytest-subtests",
+  "hypothesis==6.47.*",
+  "parameterized>=0.8,<0.9",
+  "pre-commit",
+]
+docs = [
+  "Jinja2",
+  "natsort",
+]
+
 [tool.pytest.ini_options]
 addopts = "--ignore=panda/ -Werror --strict-config --strict-markers --durations=10 -n auto"
 python_files = "test_*.py"