safety: single libsafety.so (#3013)

* safety: single libsafety.so

* llvm

opendbc/safety/tests/libsafety/SConscript

@@ -1,19 +1,16 @@
 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'
+# Use clang-17 for both normal tests and mutation testing
+# The Mull plugin injects mutations that are dormant unless run with mull-runner
+if system == "Darwin":
+  mull_plugin = Dir('#').abspath + '/.mull/lib/mull-ir-frontend-17'
+else:
+  mull_plugin = '/usr/lib/mull-ir-frontend-17'
 
-# standard env
 env = Environment(
-  CC=CC,
+  CC='clang-17',
   CFLAGS=[
     '-Wall',
     "-Wextra",
@@ -28,6 +25,8 @@ env = Environment(
     '-fno-omit-frame-pointer',
     '-fprofile-arcs',
     '-ftest-coverage',
+    f'-fpass-plugin={mull_plugin}',
+    '-grecord-command-line',
     '-DALLOW_DEBUG',
   ],
   LINKFLAGS=[
@@ -40,31 +39,10 @@ env = Environment(
   tools=["default", "compilation_db"],
 )
 if system == "Darwin":
-  env.PrependENVPath('PATH', '/opt/homebrew/bin')
+  env.PrependENVPath('PATH', '/opt/homebrew/opt/llvm@17/bin')
 
-# mutation env
-menv = env.Clone()
-if system == "Darwin":
-  menv.PrependENVPath('PATH', '/opt/homebrew/opt/llvm@17/bin')
-  mull_plugin = Dir('#').abspath + '/.mull/lib/mull-ir-frontend-17'
-else:
-  mull_plugin = '/usr/lib/mull-ir-frontend-17'
-menv['CC'] = 'clang-17'
-flags = [
-  '-fprofile-instr-generate',
-  '-fcoverage-mapping',
-  f'-fpass-plugin={mull_plugin}',
-  '-g',
-  '-grecord-command-line',
-]
-menv['CFLAGS'] += flags
-menv['LINKFLAGS'] = flags
-menv['CFLAGS'].remove('-fprofile-arcs')
-menv['CFLAGS'].remove('-ftest-coverage')
+safety = env.SharedObject("safety.os", "safety.c")
+libsafety = env.SharedLibrary("libsafety.so", [safety])
 
-for build_env, suffix in ((env, ""), (menv, "_mutation")):
-  safety = build_env.SharedObject(f"safety{suffix}.os", "safety.c")
-  libsafety = build_env.SharedLibrary(f"libsafety{suffix}.so", [safety])
-
-  # GCC note file is generated by compiler, allow scons to clean it up
-  build_env.SideEffect("safety.gcno", safety)
+# GCC-style note file is generated by compiler, allow scons to clean it up
+env.SideEffect("safety.gcno", safety)

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -4,7 +4,7 @@ from cffi import FFI
 from opendbc.safety import LEN_TO_DLC
 
 libsafety_dir = os.path.dirname(os.path.abspath(__file__))
-libsafety_fn = os.path.join(libsafety_dir, "libsafety_mutation.so" if "MUTATION" in os.environ else "libsafety.so")
+libsafety_fn = os.path.join(libsafety_dir, "libsafety.so")
 
 ffi = FFI()
 

opendbc/safety/tests/mutation.sh

@@ -17,5 +17,4 @@ EOF
 
 scons -j4 -D
 
-export MUTATION=1
-mull-runner-17 --debug --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety_mutation.so -test-program=pytest -- -n8 --ignore-glob=misra/*
+mull-runner-17 --debug --ld-search-path /lib/x86_64-linux-gnu/ ./libsafety/libsafety.so -test-program=pytest -- -n8 --ignore-glob=misra/*

opendbc/safety/tests/test.sh

@@ -13,16 +13,22 @@ scons -j$(nproc) -D
 # run safety tests and generate coverage data
 pytest -n8 --ignore-glob=misra/*
 
+if [ "$(uname)" = "Darwin" ]; then
+  GCOV_EXEC="/opt/homebrew/opt/llvm@17/bin/llvm-cov gcov"
+else
+  GCOV_EXEC="llvm-cov-17 gcov"
+fi
+
 # generate and open report
 if [ "$1" == "--report" ]; then
   mkdir -p coverage-out
-  gcovr -r ../ --html-nested coverage-out/index.html
+  gcovr -r ../ --gcov-executable "$GCOV_EXEC" --html-nested coverage-out/index.html
   sensible-browser coverage-out/index.html
 fi
 
 # test coverage
-GCOV="gcovr -r $DIR/../ -d --fail-under-line=100 -e ^libsafety"
-if ! GCOV_OUTPUT="$($GCOV)"; then
+GCOV="gcovr -r $DIR/../ --gcov-executable \"$GCOV_EXEC\" -d --fail-under-line=100 -e ^libsafety"
+if ! GCOV_OUTPUT="$(eval $GCOV)"; then
   echo -e "FAILED:\n$GCOV_OUTPUT"
   exit 1
 else