remove cereal dependence (#2000)

* remove cereal

* rm more shit

* add back make

* python3

* python3

* fix that

* put that back

* rename

* fix that

* can't move it

.github/workflows/test.yaml

@@ -11,7 +11,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
+  RUN: docker run -v ${{ github.workspace }}:/tmp/pythonpath/panda -w /tmp/pythonpath/panda --rm panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
@@ -45,7 +45,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Test python package installer
-        run: ${{ env.RUN }} "python setup.py install"
+        run: ${{ env.RUN }} "python3 setup.py install"
       - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
@@ -103,8 +103,8 @@ jobs:
         timeout-minutes: 5
         run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py"
 
-  python_linter:
-    name: python linter
+  static_analysis:
+    name: static analysis
     runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:

Dockerfile

@@ -1,44 +1,25 @@
 FROM ubuntu:24.04
 
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+ENV PYTHONUNBUFFERED=1
+ENV PYTHONPATH=/tmp/pythonpath
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     make \
-    bzip2 \
-    ca-certificates \
-    capnproto \
-    clang \
     g++ \
     gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
-    libarchive-dev \
-    libbz2-dev \
-    libcapnp-dev \
     libffi-dev \
-    libtool \
     libusb-1.0-0 \
-    libzmq3-dev \
-    locales \
-    opencl-headers \
-    ocl-icd-opencl-dev \
     python3 \
     python3-dev \
     python3-pip \
-    python-is-python3 \
-    zlib1g-dev \
  && rm -rf /var/lib/apt/lists/* && \
     apt clean && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
 COPY requirements.txt /tmp/
 RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
 
@@ -47,21 +28,18 @@ COPY tests/misra/install.sh /tmp/
 RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/
 ENV SKIP_CPPCHECK_INSTALL=1
 
-ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47"
-ENV OPENDBC_REF="8e9d3688412405154a8189c421cfdc9d5feea715"
-
-RUN git config --global --add safe.directory /tmp/openpilot/panda
-RUN mkdir -p /tmp/openpilot/ && \
-    cd /tmp/openpilot/ && \
-    git clone --depth 1 https://github.com/commaai/cereal && \
-    git clone --depth 1 https://github.com/commaai/opendbc && \
-    cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \
-    cp -pR opendbc/SConstruct opendbc/site_scons/ . && \
-    pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \
-    scons -j8 --minimal opendbc/ cereal/
+# TODO: this should be a "pip install" or not even in this repo at all
+RUN git config --global --add safe.directory $PYTHONPATH/panda
+ENV OPENDBC_REF="5ed7a834a4e0e24c3968dd1e98ceb4b9d5f9791a"
+RUN mkdir -p $PYTHONPATH && \
+    cd /tmp/ && \
+    git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
+    cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
+    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
+    scons -j8 --minimal opendbc/ && \
+    ln -s $PWD/opendbc $PYTHONPATH/opendbc
 
 # for Jenkins
 COPY README.md panda.tar.* /tmp/
-RUN mkdir /tmp/openpilot/panda && \
-    tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true
+RUN mkdir /tmp/pythonpath/panda && \
+    tar -xvf /tmp/panda.tar.gz -C /tmp/pythonpath/panda/ || true

Jenkinsfile

@@ -4,7 +4,7 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
-          --workdir /tmp/openpilot/panda \
+          --workdir /tmp/pythonpath/panda \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
           bash -c 'scons -j8 && ${cmd}'", \
@@ -92,7 +92,7 @@ pipeline {
           steps {
             script {
               retry (3) {
-                docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
+                docker_run("reset hardware", 3, "python3 ./tests/hitl/reset_jungles.py")
               }
             }
           }

tests/misra/test_misra.sh

@@ -19,7 +19,7 @@ fi
 # ensure checked in coverage table is up to date
 cd $DIR
 if [ -z "$SKIP_TABLES_DIFF" ]; then
-  python $CPPCHECK_DIR/addons/misra.py -generate-table > coverage_table
+  python3 $CPPCHECK_DIR/addons/misra.py -generate-table > coverage_table
   if ! git diff --quiet coverage_table; then
     echo -e "${YELLOW}MISRA coverage table doesn't match. Update and commit:${NC}"
     exit 3

tests/usbprotocol/test.sh

@@ -4,5 +4,5 @@ set -e
 # Loops over all HW_TYPEs, see board/boards/board_declarations.h
 for hw_type in {0..7}; do
   echo "Testing HW_TYPE: $hw_type"
-  HW_TYPE=$hw_type python -m unittest discover .
+  HW_TYPE=$hw_type python3 -m unittest discover .
 done