cabana in jotpluggler

README.md

@@ -17,7 +17,7 @@
   <span> · </span>
   <a href="https://discord.comma.ai">Community</a>
   <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma four</a>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
 </h3>
 
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
 ------
 
 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
-2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 

tools/cabana/SConscript

@@ -66,7 +66,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
+  base_frameworks.append('QtCharts')
 else:
   base_libs.append('Qt5Charts')
 

tools/cabana/cabana

@@ -33,6 +33,6 @@ fi
 
 # Build _cabana
 cd "$ROOT"
-scons -j4 tools/cabana/_cabana cereal/messaging/bridge
+scons -j"$(nproc)" tools/cabana/_cabana cereal/messaging/bridge
 
 exec "$DIR/_cabana" "$@"

tools/jotpluggler/SConscript

@@ -1,92 +1,65 @@
 import os
+
 import imgui
 import libusb
-from opendbc import get_generated_dbcs
-from opendbc.car import Bus
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.values import PLATFORMS
-from openpilot.common.basedir import BASEDIR
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
 
 jot_env = env.Clone()
-jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR]
-jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
-jot_env["CXXFLAGS"] += [
-  "-DGLFW_INCLUDE_NONE",
-  '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+jot_env["LIBPATH"] += [imgui.MESA_DIR]
+jot_env["CPPPATH"] += [imgui.INCLUDE_DIR]
+jot_env["CPPPATH"] += [libusb.INCLUDE_DIR]
+jot_env["LIBPATH"] += [libusb.LIB_DIR]
+jot_env["CXXFLAGS"] += ["-DGLFW_INCLUDE_NONE"]
+repo_root = jot_env.Dir("../..").abspath
+jot_env["CXXFLAGS"] += ['-DJOTP_REPO_ROOT=\'"%s"\'' % repo_root]
+generated_dbc_dir = "tools/jotpluggler/generated_dbcs"
+generated_dbc_stamp = jot_env.Command(
+  f"{generated_dbc_dir}/.stamp",
+  ["materialize_generated_dbcs.py"],
+  f"python3 tools/jotpluggler/materialize_generated_dbcs.py --out {generated_dbc_dir}",
+)
+
+jot_sources = [
+  "main.cc",
+  "app.cc",
+  "app_browser.cc",
+  "app_cabana.cc",
+  "app_cabana_widgets.cc",
+  "app_camera.cc",
+  "app_common.cc",
+  "app_custom_series.cc",
+  "app_layout_flow.cc",
+  "app_layout_io.cc",
+  "app_logs.cc",
+  "app_map.cc",
+  "app_plot.cc",
+  "app_render_flow.cc",
+  "app_runtime.cc",
+  "app_session_flow.cc",
+  "app_sidebar_flow.cc",
+  "app_socketcan.cc",
+  "app_stream_flow.cc",
+  "bootstrap_icons.cc",
+  "dbc_core.cc",
+  "../cabana/panda.cc",
+  "sketch_layout.cc",
 ]
 
-def materialize_generated_dbcs(target, source, env):
-  out_dir = os.path.dirname(str(target[0]))
-  os.makedirs(out_dir, exist_ok=True)
-
-  for name in os.listdir(out_dir):
-    if name.endswith('.dbc'):
-      os.unlink(os.path.join(out_dir, name))
-
-  for name, content in sorted(get_generated_dbcs().items()):
-    with open(os.path.join(out_dir, f"{name}.dbc"), "w") as f:
-      f.write(content)
-
-  with open(str(target[0]), "w") as f:
-    f.write("ok\n")
-
-  return None
-
-def write_car_fingerprint_to_dbc_header(target, source, env):
-  pairs = {}
-
-  for name, platform in sorted(PLATFORMS.items()):
-    dbc = platform.config.dbc_dict.get(Bus.pt, "")
-    if not dbc and name.startswith("TESLA_"):
-      dbc = platform.config.dbc_dict.get(Bus.party, "")
-    if not dbc and name == "COMMA_BODY":
-      dbc = "comma_body"
-    if dbc and name != "MOCK":
-      pairs[name] = dbc
-
-  for fingerprint, car in sorted(MIGRATION.items()):
-    dbc = pairs.get(str(car), "")
-    if dbc:
-      pairs[fingerprint] = dbc
-
-  lines = [
-    "#pragma once",
-    "",
-    "#include <string_view>",
-    "#include <utility>",
-    "",
-    "inline constexpr std::pair<std::string_view, std::string_view> kCarFingerprintToDbc[] = {",
-  ]
-  lines.extend(f'  {{"{fingerprint}", "{dbc}"}},' for fingerprint, dbc in sorted(pairs.items()))
-  lines.extend([
-    "};",
-    "",
-    "inline std::string_view dbc_for_car_fingerprint(std::string_view fingerprint) {",
-    "  for (const auto &[car_fingerprint, dbc] : kCarFingerprintToDbc) {",
-    "    if (car_fingerprint == fingerprint) return dbc;",
-    "  }",
-    "  return {};",
-    "}",
-    "",
-  ])
-
-  with open(str(target[0]), "w") as f:
-    f.write("\n".join(lines))
-
-  return None
-
-generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
-car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+objects = []
+for source in jot_sources:
+  basename = os.path.splitext(os.path.basename(source))[0]
+  objects.append(jot_env.Object(target=f"jot_{basename}", source=source))
 
-libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
+imgui_static = File(f"{imgui.LIB_DIR}/libimgui.a")
+glfw_static = File(f"{imgui.LIB_DIR}/libglfw3.a")
+frameworks = []
+libs = [replay_lib, common, messaging, visionipc, cereal, imgui_static, glfw_static,
         "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
 if arch == "Darwin":
-  jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
+  frameworks = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
 else:
   libs += ["GL", "dl", "va", "va-drm", "drm"]
 
-program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
+program = jot_env.Program("jotpluggler", objects, LIBS=libs, FRAMEWORKS=frameworks)
 jot_env.Depends(program, generated_dbc_stamp)
-jot_env.Depends(program, car_fingerprint_to_dbc)