78 lines
2.6 KiB
Python
78 lines
2.6 KiB
Python
Import('env', 'envCython', 'arch', 'common')
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import shutil
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cereal_dir = Dir('.')
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gen_dir = Dir('gen')
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messaging_dir = Dir('messaging')
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# Build cereal
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schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
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env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
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env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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if shutil.which('capnpc-java'):
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env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
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schema_files,
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f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
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# TODO: remove non shared cereal and messaging
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cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
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env.Library('cereal', cereal_objects)
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env.SharedLibrary('cereal_shared', cereal_objects)
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# Build messaging
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services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
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messaging_objects = env.SharedObject([
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'messaging/messaging.cc',
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'messaging/impl_zmq.cc',
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'messaging/impl_msgq.cc',
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'messaging/msgq.cc',
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'messaging/socketmaster.cc',
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])
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messaging_lib = env.Library('messaging', messaging_objects)
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Depends('messaging/impl_zmq.cc', services_h)
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env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
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Depends('messaging/bridge.cc', services_h)
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envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
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# Build Vision IPC
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vipc_sources = [
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'visionipc/ipc.cc',
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'visionipc/visionipc_server.cc',
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'visionipc/visionipc_client.cc',
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'visionipc/visionbuf.cc',
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]
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if arch in ["aarch64", "larch64"]:
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vipc_sources += ['visionipc/visionbuf_ion.cc']
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else:
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vipc_sources += ['visionipc/visionbuf_cl.cc']
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vipc_objects = env.SharedObject(vipc_sources)
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vipc = env.Library('visionipc', vipc_objects)
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libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
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if arch == "aarch64":
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libs += ["adreno_utils"]
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if arch == "Darwin":
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del libs[libs.index('OpenCL')]
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envCython['FRAMEWORKS'] += ['OpenCL']
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envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
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if GetOption('test'):
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env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
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env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
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