cabana: static link to opendbc (#27409)

* static link to opendbc

* bump opendbc

* cleanup

* bump opendbc

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

SConstruct

@@ -434,9 +434,6 @@ SConscript(['selfdrive/navd/SConscript'])
 
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')

opendbc

@@ -1 +1 @@
-Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf
+Subproject commit 9a1de83e4b0625c38c6bc677a762528b7026aa5e

tools/cabana/.gitignore

@@ -1,7 +1,7 @@
 moc_*
 *.moc
 
-_cabana
+cabana
 settings
 dbc/car_fingerprint_to_dbc.json
-tests/_test_cabana
+tests/test_cabana

tools/cabana/README.md

@@ -8,7 +8,7 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an
 
 ```bash
 $ ./cabana -h
-Usage: ./_cabana [options] route
+Usage: ./cabana [options] route
 
 Options:
   -h, --help             Displays this help.

tools/cabana/SConscript

@@ -1,6 +1,6 @@
 import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets', 'opendbc')
+       'cereal', 'transformations', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
@@ -15,8 +15,9 @@ else:
 
 qt_libs = ['qt_util'] + base_libs
 
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
 cabana_env = qt_env.Clone()
+cabana_env["LIBPATH"] += ['../../opendbc/can']
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -31,13 +32,10 @@ cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-
-if arch == "Darwin":
-  cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana')
+cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
-  cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
+  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
 def generate_dbc_json(target, source, env):
   env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json')

tools/cabana/cabana

@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_cabana "$@"

tools/cabana/tests/test_cabana

@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_test_cabana "$1"