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openpilot/SConstruct

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import Cython
import distutils
import os
import shutil
import subprocess
import sys
import platform
TICI = os.path.isfile('/TICI')
Decider('MD5-timestamp')
AddOption('--test',
action='store_true',
help='build test files')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
# Rebuild cython extensions if python, distutils, or cython change
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
Export('cython_dependencies')
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
if arch == "aarch64" and TICI:
arch = "larch64"
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
if arch == "aarch64" or arch == "larch64":
lenv = {
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
"PATH": os.environ['PATH'],
}
if arch == "aarch64":
# android
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
cpppath = [
"#phonelibs/opencl/include",
]
libpath = [
"/usr/lib",
"/system/vendor/lib64",
"/system/comma/usr/lib",
"#phonelibs/nanovg",
]
if arch == "larch64":
libpath += [
"#phonelibs/snpe/larch64",
"#phonelibs/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu"
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath = ["/usr/local/lib"]
else:
libpath += [
"#phonelibs/snpe/aarch64",
"#phonelibs/libyuv/lib",
"/system/vendor/lib64"
]
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
rpath = []
if QCOM_REPLAY:
cflags += ["-DQCOM_REPLAY"]
cxxflags += ["-DQCOM_REPLAY"]
else:
cflags = []
cxxflags = []
lenv = {
"PATH": "#external/bin:" + os.environ['PATH'],
}
cpppath = [
"#external/tensorflow/include",
]
if arch == "Darwin":
libpath = [
"#phonelibs/libyuv/mac/lib",
"#cereal",
"#selfdrive/common",
"/usr/local/lib",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
else:
libpath = [
"#phonelibs/snpe/x86_64-linux-clang",
"#phonelibs/libyuv/x64/lib",
"#external/tensorflow/lib",
"#cereal",
"#selfdrive/common",
"/usr/lib",
"/usr/local/lib",
]
rpath = [
"phonelibs/snpe/x86_64-linux-clang",
"external/tensorflow/lib",
"cereal",
"selfdrive/common"
]
# allows shared libraries to work globally
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
if GetOption('asan'):
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags_asan = ["-fsanitize=address"]
else:
ccflags_asan = []
ldflags_asan = []
# change pythonpath to this
lenv["PYTHONPATH"] = Dir("#").path
env = Environment(
ENV=lenv,
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Wunused",
"-Werror",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",
"-Wno-register",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
] + cflags + ccflags_asan,
CPPPATH=cpppath + [
"#",
"#selfdrive",
"#phonelibs/bzip2",
"#phonelibs/libyuv/include",
"#phonelibs/openmax/include",
"#phonelibs/json11",
"#phonelibs/curl/include",
"#phonelibs/libgralloc/include",
"#phonelibs/android_frameworks_native/include",
"#phonelibs/android_hardware_libhardware/include",
"#phonelibs/android_system_core/include",
"#phonelibs/linux/include",
"#phonelibs/snpe/include",
"#phonelibs/nanovg",
"#selfdrive/common",
"#selfdrive/camerad",
"#selfdrive/camerad/include",
"#selfdrive/loggerd/include",
"#selfdrive/modeld",
"#selfdrive/sensord",
"#selfdrive/ui",
"#cereal/messaging",
"#cereal",
"#opendbc/can",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags_asan,
RPATH=rpath,
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
"#cereal",
"#selfdrive/common",
"#phonelibs",
]
)
qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()
if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
QT_BASE + "include/QtWidgets",
QT_BASE + "include/QtGui",
QT_BASE + "include/QtCore",
QT_BASE + "include/QtDBus",
QT_BASE + "include/QtMultimedia",
]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
]
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags
if os.environ.get('SCONS_CACHE'):
cache_dir = '/tmp/scons_cache'
if os.getenv('CI'):
branch = os.getenv('GIT_BRANCH')
if QCOM_REPLAY:
cache_dir = '/tmp/scons_cache_qcom_replay'
elif branch is not None and branch != 'master':
cache_dir_branch = '/tmp/scons_cache_' + branch
if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
shutil.copytree(cache_dir, cache_dir_branch)
cache_dir = cache_dir_branch
CacheDir(cache_dir)
node_interval = 5
node_count = 0
def progress_function(node):
global node_count
node_count += node_interval
sys.stderr.write("progress: %d\n" % node_count)
if os.environ.get('SCONS_PROGRESS'):
Progress(progress_function, interval=node_interval)
SHARED = False
def abspath(x):
if arch == 'aarch64':
pth = os.path.join("/data/pythonpath", x[0].path)
env.Depends(pth, x)
return File(pth)
else:
# rpath works elsewhere
return x[0].path.rsplit("/", 1)[1][:-3]
# still needed for apks
zmq = 'zmq'
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])
if SHARED:
cereal = abspath([File('cereal/libcereal_shared.so')])
messaging = abspath([File('cereal/libmessaging_shared.so')])
else:
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
Export('cereal', 'messaging')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
if SHARED:
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
else:
common = [_common, 'json11']
visionipc = _visionipc
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'visionipc', 'gpucommon')
SConscript(['opendbc/can/SConscript'])
SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript'])
SConscript(['phonelibs/SConscript'])
SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/locationd/models/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])
if arch == "x86_64":
SConscript(['tools/lib/index_log/SConscript'])
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