quick repo garbage collection (#35274)

* start gc

* lil more

* debug

* no sound

* add back

SConstruct

@@ -55,11 +55,6 @@ AddOption('--external-sconscript',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
-AddOption('--pc-thneed',
-          action='store_true',
-          dest='pc_thneed',
-          help='use thneed on pc')
-
 AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
@@ -288,12 +283,7 @@ else:
   elif arch != "Darwin":
     qt_libs += ["GL"]
 qt_env['QT3DIR'] = qt_env['QTDIR']
-
-# compatibility for older SCons versions
-try:
 qt_env.Tool('qt3')
-except SCons.Errors.UserError:
-  qt_env.Tool('qt')
 
 qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [

common/ffi_wrapper.py

@@ -1,8 +0,0 @@
-import platform
-
-
-def suffix():
-  if platform.system() == "Darwin":
-    return ".dylib"
-  else:
-    return ".so"

common/filter_simple.py

@@ -1,5 +1,4 @@
 class FirstOrderFilter:
-  # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
     self.dt = dt

pyproject.toml

@@ -123,7 +123,7 @@ tools = [
 ]
 
 [project.urls]
-Homepage = "https://comma.ai"
+Homepage = "https://github.com/commaai/openpilot"
 
 [build-system]
 requires = ["hatchling"]

selfdrive/debug/measure_modeld_packet_drop.py

@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-
-if __name__ == "__main__":
-  modeld_sock = messaging.sub_sock("modelV2")
-
-  last_frame_id = None
-  start_t: int | None = None
-  frame_cnt = 0
-  dropped = 0
-
-  while True:
-    m = messaging.recv_one(modeld_sock)
-    if m is None:
-      continue
-
-    frame_id = m.modelV2.frameId
-    t = m.logMonoTime / 1e9
-    frame_cnt += 1
-
-    if start_t is None:
-      start_t = t
-      last_frame_id = frame_id
-      continue
-
-    d_frame = frame_id - last_frame_id
-    dropped += d_frame - 1
-
-    expected_num_frames = int((t - start_t) * 20)
-    frame_drop = 100 * (1 - (expected_num_frames / frame_cnt))
-    print(f"Num dropped {dropped}, Drop compared to 20Hz: {frame_drop:.2f}%")
-
-    last_frame_id = frame_id

selfdrive/debug/show_matching_cars.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-import cereal.messaging as messaging
-
-
-# rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
-
-candidate_cars = all_legacy_fingerprint_cars()
-
-
-for addr, l in fingerprint.items():
-  dat = messaging.new_message('can', 1)
-
-  msg = dat.can[0]
-  msg.address = addr
-  msg.dat = " " * l
-
-  candidate_cars = eliminate_incompatible_cars(msg, candidate_cars)
-  print(candidate_cars)

selfdrive/ui/qt/python_helpers.py

@@ -1,11 +1,14 @@
 import os
+import platform
 from cffi import FFI
 
 import sip
 
-from openpilot.common.ffi_wrapper import suffix
 from openpilot.common.basedir import BASEDIR
 
+def suffix():
+  return ".dylib" if platform.system() == "Darwin" else ".so"
+
 
 def get_ffi():
   lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())

system/athena/athenad.py

@@ -546,7 +546,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):

system/camerad/test/check_skips.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-# type: ignore
-import cereal.messaging as messaging
-
-all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
-prev_id = [None,None,None]
-this_id = [None,None,None]
-dt = [None,None,None]
-num_skipped = [0,0,0]
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(all_sockets)
-  while True:
-    sm.update()
-
-    for i in range(len(all_sockets)):
-      if not sm.updated[all_sockets[i]]:
-        continue
-      this_id[i] = sm[all_sockets[i]].frameId
-      if prev_id[i] is None:
-        prev_id[i] = this_id[i]
-        continue
-      dt[i] = this_id[i] - prev_id[i]
-      if dt[i] != 1:
-        num_skipped[i] += dt[i] - 1
-        print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
-      prev_id[i] = this_id[i]

system/camerad/test/get_thumbnails_for_segment.py

@@ -1,24 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-from tqdm import tqdm
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("route", help="The route name")
-  args = parser.parse_args()
-
-  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
-  os.makedirs(out_path, exist_ok=True)
-
-  lr = LogReader(args.route)
-
-  for msg in tqdm(lr):
-    if msg.which() == 'thumbnail':
-      with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.thumbnail.thumbnail)
-    elif msg.which() == 'navThumbnail':
-      with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.navThumbnail.thumbnail)

system/camerad/test/test_exposure.py

@@ -3,7 +3,7 @@ import numpy as np
 import pytest
 
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.system.camerad.snapshot.snapshot import get_snapshots
+from openpilot.system.camerad.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5