garbage collection pass

.github/workflows/test.yaml

@@ -10,39 +10,24 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
   cancel-in-progress: true
 
-env:
-  RUN: source .venv/bin/activate && /bin/bash -c
-
 jobs:
-  build:
-    name: build
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-      - run: ./setup.sh
-      - name: Test python package installer
-        run: ${{ env.RUN }} "pip install --break-system-packages .[dev]"
-      - name: Build panda images and bootstub
-        run: ${{ env.RUN }} "scons -j4"
-      - name: Build with UBSan
-        run: ${{ env.RUN }} "scons -j4 --ubsan"
-      - name: Build jungle firmware with FINAL_PROVISIONING support
-        run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
-      - name: Build panda in release mode
-        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
-
   test:
     name: ./test.sh
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: ['macos-latest', 'ubuntu-latest']
-    timeout-minutes: 10
+    timeout-minutes: 3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - run: ./test.sh
+      - name: Build panda in release mode
+        run: |
+          source .venv/bin/activate
+          CERT=certs/debug RELEASE=1 scons
+      - name: Test python package installer
+        run: pip install --break-system-packages .[dev]
 
   windows:
     name: windows pip package test
@@ -63,23 +48,22 @@ jobs:
   misra_linter:
     name: MISRA C:2012 Linter
     runs-on: ubuntu-latest
-    timeout-minutes: 10
+    timeout-minutes: 3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - run: ./setup.sh
-      - name: Build FW
-        run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Run MISRA C:2012 analysis
-        run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+        run: ./tests/misra/test_misra.sh
 
   misra_mutation:
     name: MISRA C:2012 Mutation
     runs-on: ubuntu-latest
-    timeout-minutes: 10
+    timeout-minutes: 3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - run: ./setup.sh
-      - name: Build FW
-        run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: MISRA mutation tests
-        run: ${{ env.RUN }} "cd tests/misra && pytest test_mutation.py"
+        run: |
+          source .venv/bin/activate
+          cd tests/misra
+          pytest test_mutation.py

.gitignore

@@ -8,6 +8,7 @@
 *.os
 *.d
 *.dump
+*.ctu-info
 a.out
 *~
 .#*

SConscript

@@ -154,16 +154,10 @@ with open("board/obj/cert.h", "w") as f:
 build_project("panda_h7", base_project_h7, "./board/main.c", [])
 
 # panda jungle fw
-flags = [
-  "-DPANDA_JUNGLE",
-]
-if os.getenv("FINAL_PROVISIONING"):
-  flags += ["-DFINAL_PROVISIONING"]
-build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
+build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", ["-DPANDA_JUNGLE"])
 
 # body fw
 build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
 
 # test files
-if GetOption('extras'):
-  SConscript('tests/libpanda/SConscript')
+SConscript('tests/libpanda/SConscript')

SConstruct

@@ -1,18 +1,12 @@
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=True,
-          help='the minimum build. no tests, tools, etc.')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
+import os
 
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],
 )
 
+SetOption('num_jobs', max(1, int((os.cpu_count() or 1)-1)))
+
 env.CompilationDatabase("compile_commands.json")
 
 # panda fw & test files

board/jungle/main.c

@@ -75,11 +75,6 @@ void tick_handler(void) {
       // turn off the blue LED, turned on by CAN
       led_set(LED_BLUE, false);
 
-      // Blink and OBD CAN
-#ifdef FINAL_PROVISIONING
-      current_board->set_can_mode(can_mode == CAN_MODE_NORMAL ? CAN_MODE_OBD_CAN2 : CAN_MODE_NORMAL);
-#endif
-
       // on to the next one
       uptime_cnt += 1U;
     }
@@ -91,33 +86,12 @@ void tick_handler(void) {
       current_board->set_panda_power(!panda_power);
     }
 
-#ifdef FINAL_PROVISIONING
-    // Ignition blinking
-    uint8_t ignition_bitmask = 0U;
-    for (uint8_t i = 0U; i < 6U; i++) {
-      ignition_bitmask |= ((loop_counter % 12U) < ((uint32_t) i + 2U)) << i;
-    }
-    current_board->set_individual_ignition(ignition_bitmask);
-
-    // SBU voltage reporting
-    for (uint8_t i = 0U; i < 6U; i++) {
-      CANPacket_t pkt = { 0 };
-      pkt.data_len_code = 8U;
-      pkt.addr = 0x100U + i;
-      *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
-      *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
-      pkt.data[4] = (ignition_bitmask >> i) & 1U;
-      can_set_checksum(&pkt);
-      can_send(&pkt, 0U, false);
-    }
-#else
     // toggle ignition on button press
     static bool prev_button_status = false;
     if (!current_button_status && prev_button_status && button_press_cnt < 10){
       current_board->set_ignition(!ignition);
     }
     prev_button_status = current_button_status;
-#endif
 
     button_press_cnt = current_button_status ? button_press_cnt + 1 : 0;
 
@@ -181,12 +155,6 @@ int main(void) {
   can_init_all();
   current_board->set_harness_orientation(HARNESS_ORIENTATION_1);
 
-#ifdef FINAL_PROVISIONING
-  print("---- FINAL PROVISIONING BUILD ---- \n");
-  can_set_forwarding(0, 2);
-  can_set_forwarding(1, 2);
-#endif
-
   // LED should keep on blinking all the time
   uint32_t cnt = 0;
   for (cnt=0;;cnt++) {

pyproject.toml

@@ -3,7 +3,7 @@ name = "pandacan"
 version = "0.0.10"
 description = "Code powering the comma.ai panda"
 readme = "README.md"
-requires-python = ">=3.11,<3.13"  # macOS doesn't work with 3.13 due to pycapnp from opendbc
+requires-python = ">=3.11,<4"
 license = {text = "MIT"}
 authors = [{name = "comma.ai"}]
 classifiers = [
@@ -76,7 +76,7 @@ flake8-implicit-str-concat.allow-multiline=false
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 
 [tool.pytest.ini_options]
-addopts = "-Werror --strict-config --strict-markers --durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
+addopts = "--durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
 python_files = "test_*.py"
 testpaths = [
   "tests/"

setup.sh

@@ -36,5 +36,6 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$DIR/.venv"
-uv sync --all-extras --upgrade
+rm -f uv.lock
+uv sync --all-extras
 source "$DIR/.venv/bin/activate"

tests/libpanda/SConscript

@@ -1,19 +1,6 @@
 import opendbc
-import platform
-
-CC = 'gcc'
-system = platform.system()
-mac_ver = platform.mac_ver()
-
-# gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be
-# distinguishable from system one - which acts as a symlink to clang
-# clang works on macOS 15 and greater but has issues on earlier macOS versions.
-# see: https://github.com/commaai/openpilot/issues/35093
-if system == 'Darwin' and mac_ver[0] and mac_ver[0] < '15':
-  CC += '-13'
 
 env = Environment(
-  CC=CC,
   CFLAGS=[
     '-nostdlib',
     '-fno-builtin',
@@ -23,16 +10,6 @@ env = Environment(
   ],
   CPPPATH=[".", "../../", "../../board/", opendbc.INCLUDE_PATH],
 )
-if system == "Darwin":
-  env.PrependENVPath('PATH', '/opt/homebrew/bin')
-
-if GetOption('ubsan'):
-  flags = [
-    "-fsanitize=undefined",
-    "-fno-sanitize-recover=undefined",
-  ]
-  env['CFLAGS'] += flags
-  env['LINKFLAGS'] += flags
 
 panda = env.SharedObject("panda.os", "panda.c")
 libpanda = env.SharedLibrary("libpanda.so", [panda])

tests/misra/test_misra.sh

@@ -1,8 +1,10 @@
 #!/usr/bin/env bash
 set -e
 
+PANDA_DIR=$(git rev-parse --show-toplevel)
+source $PANDA_DIR/setup.sh
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
-PANDA_DIR=$(realpath $DIR/../../)
 OPENDBC_ROOT=$(python3 -c "import opendbc; print(opendbc.INCLUDE_PATH)")
 
 GREEN="\e[1;32m"
@@ -24,7 +26,7 @@ fi
 
 cd $PANDA_DIR
 if [ -z "${SKIP_BUILD}" ]; then
-  scons -j8
+  scons
 fi
 
 CHECKLIST=$DIR/checkers.txt