Remove cython

.gitmodules

@@ -6,10 +6,12 @@
   url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = ../../mpurnell1/msgq.git
+  branch = remove-ipc-cython
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = ../../mpurnell1/rednose.git
+  branch = remove-ekf-cython
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc

SConstruct

@@ -86,10 +86,10 @@ env = Environment(
     f"#third_party/acados/{arch}/lib",
   ],
   RPATH=[],
-  CYTHONCFILESUFFIX=".cpp",
+
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  tools=["default", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
@@ -149,7 +149,7 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-# ********** Cython build environment **********
+# ********** Python build environment **********
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]

cereal/messaging/__init__.py

@@ -1,7 +1,7 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event, \
+                                MultiplePublishersError, IpcError
 from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
 import msgq
 

common/SConscript

@@ -16,8 +16,8 @@ if GetOption('extras'):
               ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+# C++ bindings
+params_python = envCython.Program('_params.so', 'params_module.cc', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
 SConscript([
   'transformations/SConscript',

common/params.py

@@ -1,4 +1,4 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+from openpilot.common._params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
 assert Params
 assert ParamKeyFlag
 assert ParamKeyType