From dcf4615b4c81c8d7e50afbba71b8f8fe72e08b52 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 12:07:02 -0700
Subject: [PATCH 01/10] unlock numpy

---
 pyproject.toml |   2 +-
 uv.lock        | 123 +++++++++++++++++++++++++------------------------
 2 files changed, 64 insertions(+), 61 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 4c1e1344310a4a..1473cf57070ea4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy < 2.0.0", # control does not support numpy 2
+  "numpy",
 
   # body / webrtcd
   "aiohttp",
diff --git a/uv.lock b/uv.lock
index 2913075f5b25c2..76a4902978aa27 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1276,26 +1276,30 @@ wheels = [
 
 [[distribution]]
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+version = "2.0.1"
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 ]
 
 [[distribution]]
@@ -4977,11 +4980,11 @@ wheels = [
 
 [[distribution]]
 name = "setuptools"
-version = "71.1.0"
+version = "72.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/c0/5b8013b5a812701c72e3b1e2b378edaa6514d06bee6704a5ab0d7fa52931/setuptools-71.1.0.tar.gz", hash = "sha256:032d42ee9fb536e33087fb66cac5f840eb9391ed05637b3f2a76a7c8fb477936", size = 2422233 }
+sdist = { url = "https://files.pythonhosted.org/packages/5e/11/487b18cc768e2ae25a919f230417983c8d5afa1b6ee0abd8b6db0b89fa1d/setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec", size = 2419487 }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/e1/58/e0ef3b9974a04ce9cde2a7a33881ddcb2d68450803745804545cdd8d258f/setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1", size = 2337965 },
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 [[distribution]]

From 1c96c0671b04004bf099437a95a2d87d001bd431 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 13:21:06 -0700
Subject: [PATCH 02/10] remove old cache

---
 .github/workflows/selfdrive_tests.yaml | 2 ++
 .github/workflows/setup/action.yaml    | 2 ++
 .github/workflows/tools_tests.yaml     | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a1786343215fee..8d0ed03934e4f4 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -117,6 +117,8 @@ jobs:
         restore-keys: |
           scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-macos
+      # make new cache
+    - run: rm -rf /tmp/scons_cache/*
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 701675942f5f39..629c016a9faf3f 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -51,6 +51,8 @@ runs:
         restore-keys: |
           scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}
+      # make new cache
+    - run: rm -rf .ci_cache/scons_cache/*
     # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
     - id: normalize-file-permissions
       shell: bash
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9085556392efc6..059ba4d9d9a7f2 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -71,6 +71,8 @@ jobs:
         restore-keys: |
           scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-ubuntu2004
+      # make new cache
+    - run: rm -rf /tmp/scons_cache/*
     - name: Building openpilot
       run: uv run scons -u -j$(nproc)
 

From 1c645357fd105093a1af3b8239d5b0536fc93bc2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 13:24:11 -0700
Subject: [PATCH 03/10] sheel

---
 .github/workflows/setup/action.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 629c016a9faf3f..b9477f8f5f93b1 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -52,7 +52,8 @@ runs:
           scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}
       # make new cache
-    - run: rm -rf .ci_cache/scons_cache/*
+    - shell: bash
+      run: rm -rf .ci_cache/scons_cache/*
     # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
     - id: normalize-file-permissions
       shell: bash

From 0434186e7a4badcacd1fb5849c5bac7cb06f84a7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 13:46:58 -0700
Subject: [PATCH 04/10] lock

---
 uv.lock | 117 +++++++++++++++++++++++++++-----------------------------
 1 file changed, 57 insertions(+), 60 deletions(-)

diff --git a/uv.lock b/uv.lock
index 76a4902978aa27..ded3ddec7c360a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1276,30 +1276,26 @@ wheels = [
 
 [[distribution]]
 name = "numpy"
-version = "2.0.1"
+version = "1.26.4"
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 [[distribution]]
@@ -1326,7 +1322,7 @@ wheels = [
 
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 name = "onnxruntime"
-version = "1.18.0"
+version = "1.18.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coloredlogs" },
@@ -1337,21 +1333,21 @@ dependencies = [
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+    { url = "https://files.pythonhosted.org/packages/c2/0c/ea2107236740be8fa0e0d4a293a095c9f43546a2465bb7df34eee9126b09/pyarrow-17.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:757074882f844411fcca735e39aae74248a1531367a7c80799b4266390ae51cc", size = 39880798 },
+    { url = "https://files.pythonhosted.org/packages/f6/b0/b9164a8bc495083c10c281cc65064553ec87b7537d6f742a89d5953a2a3e/pyarrow-17.0.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:9ba11c4f16976e89146781a83833df7f82077cdab7dc6232c897789343f7891a", size = 38715172 },
+    { url = "https://files.pythonhosted.org/packages/f1/c4/9625418a1413005e486c006e56675334929fad864347c5ae7c1b2e7fe639/pyarrow-17.0.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:b0c6ac301093b42d34410b187bba560b17c0330f64907bfa4f7f7f2444b0cf9b", size = 39874508 },
+    { url = "https://files.pythonhosted.org/packages/ae/49/baafe2a964f663413be3bd1cf5c45ed98c5e42e804e2328e18f4570027c1/pyarrow-17.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:392bc9feabc647338e6c89267635e111d71edad5fcffba204425a7c8d13610d7", size = 25099235 },
 ]
 
 [[distribution]]
@@ -4865,7 +4861,7 @@ wheels = [
 
 [[distribution]]
 name = "rerun-sdk"
-version = "0.12.0"
+version = "0.17.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "attrs" },
@@ -4875,10 +4871,11 @@ dependencies = [
     { name = "typing-extensions" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/01/ab/934f3a6d8dfd22035d10b6cb901a98255189487257692ade52e1a21bcb36/rerun_sdk-0.12.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:71284f5e4ad32552bf3fb2fd5f983d7142c93863ff6f676cd599c1915ddaa616", size = 18979974 },
-    { url = "https://files.pythonhosted.org/packages/37/e7/90410c0fda2b402df3ef4175e66243112882619c9aea91d07bde871f5308/rerun_sdk-0.12.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:014f5e72e0060d4c1f9939edbc28987a34967ce53c03b6ecad410f8d9e89f445", size = 18047293 },
-    { url = "https://files.pythonhosted.org/packages/d2/8d/7607032fbf446aeec9c36eb00f95bfd4db18e0be7c7a7b0c3b16f86019a1/rerun_sdk-0.12.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:d8ffabf659a0cccb9a16f5a38eea4def45d1b04f784bf7eafc33bdc23fe787de", size = 24331399 },
-    { url = "https://files.pythonhosted.org/packages/61/b7/dc2d88eb4fdda0cd6960466697be3a006610494c441f9524bce37c709efe/rerun_sdk-0.12.0-cp38-abi3-win_amd64.whl", hash = "sha256:4209f300ca0ae4ba1842f3292cede1af9999a23a100b2c185f7aa8df1ba90f0e", size = 17512272 },
+    { url = "https://files.pythonhosted.org/packages/30/5f/ce02381b9d7e1e14f60c421c76dce12b7d823690181784780b30266017b1/rerun_sdk-0.17.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:abd34f746eada83b8bb0bc50007183151981d7ccf18306f3d42165819a3f6fcb", size = 33166544 },
+    { url = "https://files.pythonhosted.org/packages/b7/c5/d47ba7b774bc563aa3c07ba500dd304ea24b31fe438e10ea9ad5e10ffe17/rerun_sdk-0.17.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:8b0a8a6feab3f8e679801d158216a71d88a81480021587719330f50d083c4d26", size = 32237860 },
+    { url = "https://files.pythonhosted.org/packages/87/0a/b5fe1ffea700eeaa8d28817a92ad3cb4a7d56dc4af45de76ea412cfc5cd5/rerun_sdk-0.17.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:ad55807abafb01e527846742e087819aac8e103f1ec15aadc563a4038bb44e1d", size = 38608604 },
+    { url = "https://files.pythonhosted.org/packages/d9/74/6c1ff0c8dbe6da09ceb5ea838a72382fa3131ef6bb9377a30003299743fa/rerun_sdk-0.17.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:9d41f1f475270b1e0d50ddb8cb62e0d828988f0c371ac8457af25c8be5aa1dc0", size = 38917319 },
+    { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
 [[distribution]]

From 19a813107a3c321848cd070b724789b2e61fc84a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 29 Jul 2024 14:49:54 -0700
Subject: [PATCH 05/10] remove temp

---
 .github/workflows/selfdrive_tests.yaml | 2 --
 .github/workflows/setup/action.yaml    | 3 ---
 .github/workflows/tools_tests.yaml     | 2 --
 3 files changed, 7 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8d0ed03934e4f4..a1786343215fee 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -117,8 +117,6 @@ jobs:
         restore-keys: |
           scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-macos
-      # make new cache
-    - run: rm -rf /tmp/scons_cache/*
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index b9477f8f5f93b1..701675942f5f39 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -51,9 +51,6 @@ runs:
         restore-keys: |
           scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}
-      # make new cache
-    - shell: bash
-      run: rm -rf .ci_cache/scons_cache/*
     # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
     - id: normalize-file-permissions
       shell: bash
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 059ba4d9d9a7f2..9085556392efc6 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -71,8 +71,6 @@ jobs:
         restore-keys: |
           scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
           scons-${{ runner.arch }}-ubuntu2004
-      # make new cache
-    - run: rm -rf /tmp/scons_cache/*
     - name: Building openpilot
       run: uv run scons -u -j$(nproc)
 

From 864e2f7dcafe798c5d968482517f336b1bfe37c3 Mon Sep 17 00:00:00 2001
From: quebec <quebec@quebec.attlocal.net>
Date: Mon, 29 Jul 2024 23:38:26 -0700
Subject: [PATCH 06/10] depends

---
 SConstruct                                             | 2 +-
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 2 ++
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 2 ++
 site_scons/site_tools/cython.py                        | 2 ++
 4 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index fb5c43c9ad8f4d..bef0e6b3492fdd 100644
--- a/SConstruct
+++ b/SConstruct
@@ -229,7 +229,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 73242cb8f9cf36..a2a1907c9c2f72 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,5 @@
 Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+import numpy as np
 
 gen = "c_generated_code"
 
@@ -88,3 +89,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np.__file__)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 592c1c2c2da8ec..6453153bfc5396 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,5 @@
 Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
+import numpy as np
 
 gen = "c_generated_code"
 
@@ -94,3 +95,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np.__file__)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index c2914755336b40..81a4dcfdaa135c 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -2,6 +2,7 @@
 import SCons
 from SCons.Action import Action
 from SCons.Scanner import Scanner
+import numpy as np
 
 pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
 pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
@@ -51,6 +52,7 @@ def create_builder(env):
   return cython
 
 def cython_suffix_emitter(env, source):
+  env.Depends(str(source[0]).split('.')[0] + env["CYTHONCFILESUFFIX"], np.__file__)
   return "$CYTHONCFILESUFFIX"
 
 def generate(env):

From 125202029f303d60a216b8c032b150b4494d2120 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 10:40:51 -0700
Subject: [PATCH 07/10] export

---
 SConstruct                                             | 3 ++-
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 5 ++---
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 5 ++---
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/SConstruct b/SConstruct
index bef0e6b3492fdd..a3b613b8ce2f1b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -268,7 +268,8 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_files = np.__file__
+Export('envCython', 'np_files')
 
 # Qt build environment
 qt_env = env.Clone()
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index a2a1907c9c2f72..7be02e0c59f0a7 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,5 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
-import numpy as np
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_files')
 
 gen = "c_generated_code"
 
@@ -89,4 +88,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(libacados_ocp_solver_c, np.__file__)
+lenv2.Depends(libacados_ocp_solver_c, np_files)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 6453153bfc5396..d840179c3ea6d6 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,5 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
-import numpy as np
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_files')
 
 gen = "c_generated_code"
 
@@ -95,4 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(libacados_ocp_solver_c, np.__file__)
+lenv2.Depends(libacados_ocp_solver_c, np_files)

From 0f526f4722c03e36994702dedba3e93046cb5f2d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 10:45:11 -0700
Subject: [PATCH 08/10] put this back

---
 SConstruct | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index a3b613b8ce2f1b..2e4fbc093ce7ea 100644
--- a/SConstruct
+++ b/SConstruct
@@ -229,7 +229,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":

From 6eea08229176745b3f628e5e9436fb8514ac7c24 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 11:09:01 -0700
Subject: [PATCH 09/10] use __version__

---
 SConstruct                                             | 4 ++--
 selfdrive/controls/lib/lateral_mpc_lib/SConscript      | 4 ++--
 selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 4 ++--
 site_scons/site_tools/cython.py                        | 3 ++-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/SConstruct b/SConstruct
index 2e4fbc093ce7ea..47f2db9661ba8c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -268,8 +268,8 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-np_files = np.__file__
-Export('envCython', 'np_files')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 7be02e0c59f0a7..2c03da06a626df 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_files')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -88,4 +88,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(libacados_ocp_solver_c, np_files)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index d840179c3ea6d6..fc1e844d504a69 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_files')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -94,4 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(libacados_ocp_solver_c, np_files)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index 81a4dcfdaa135c..ff798de3f39ce2 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -8,6 +8,7 @@
 pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
 cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
 
+np_version = SCons.Script.Value(np.__version__)
 
 def pyx_scan(node, env, path, arg=None):
   contents = node.get_text_contents()
@@ -52,7 +53,7 @@ def create_builder(env):
   return cython
 
 def cython_suffix_emitter(env, source):
-  env.Depends(str(source[0]).split('.')[0] + env["CYTHONCFILESUFFIX"], np.__file__)
+  env.Depends(str(source[0]).split('.')[0] + env["CYTHONCFILESUFFIX"], np_version)
   return "$CYTHONCFILESUFFIX"
 
 def generate(env):

From 71f90a8421ebd032926507e666923643cce41b7e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 30 Jul 2024 11:53:50 -0700
Subject: [PATCH 10/10] move this

---
 site_scons/site_tools/cython.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index ff798de3f39ce2..f11db1d71bebca 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -12,6 +12,7 @@
 
 def pyx_scan(node, env, path, arg=None):
   contents = node.get_text_contents()
+  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
 
   # from <module> cimport ...
   matches = pyx_from_import_re.findall(contents)
@@ -53,7 +54,6 @@ def create_builder(env):
   return cython
 
 def cython_suffix_emitter(env, source):
-  env.Depends(str(source[0]).split('.')[0] + env["CYTHONCFILESUFFIX"], np_version)
   return "$CYTHONCFILESUFFIX"
 
 def generate(env):