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@geohot @pd0wm @quillford
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import os
import subprocess
import sys
import platform
AddOption('--test',
action='store_true',
help='build test files')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
if arch == "aarch64":
lenv = {
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
"PATH": os.environ['PATH'],
"ANDROID_DATA": os.environ['ANDROID_DATA'],
"ANDROID_ROOT": os.environ['ANDROID_ROOT'],
}
cpppath = [
"#phonelibs/opencl/include",
]
libpath = [
"#phonelibs/snpe/aarch64-android-clang3.8",
"/usr/lib",
"/data/data/com.termux/files/usr/lib",
"/system/vendor/lib64",
"/system/comma/usr/lib",
"#phonelibs/nanovg",
"#phonelibs/libyuv/lib",
]
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
rpath = ["/system/vendor/lib64"]
else:
lenv = {
"PATH": "#external/bin:" + os.environ['PATH'],
}
cpppath = [
"#phonelibs/capnp-cpp/include",
"#phonelibs/capnp-c/include",
"#phonelibs/zmq/x64/include",
"#external/tensorflow/include",
]
if arch == "Darwin":
libpath = [
"#phonelibs/capnp-cpp/mac/lib",
"#phonelibs/capnp-c/mac/lib",
"#phonelibs/libyuv/mac/lib",
"#cereal",
"#selfdrive/common",
"/usr/local/lib",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
else:
libpath = [
"#phonelibs/capnp-cpp/x64/lib",
"#phonelibs/capnp-c/x64/lib",
"#phonelibs/snpe/x86_64-linux-clang",
"#phonelibs/zmq/x64/lib",
"#phonelibs/libyuv/x64/lib",
"#external/zmq/lib",
"#external/tensorflow/lib",
"#cereal",
"#selfdrive/common",
"/usr/lib",
"/usr/local/lib",
]
rpath = ["phonelibs/capnp-cpp/x64/lib",
"phonelibs/zmq/x64/lib",
"external/tensorflow/lib",
"cereal",
"selfdrive/common"]
# allows shared libraries to work globally
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
cflags = []
cxxflags = []
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
# change pythonpath to this
lenv["PYTHONPATH"] = Dir("#").path
env = Environment(
ENV=lenv,
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Werror=implicit-function-declaration",
"-Werror=incompatible-pointer-types",
"-Werror=int-conversion",
"-Werror=return-type",
"-Werror=format-extra-args",
] + cflags + ccflags_asan,
CPPPATH=cpppath + [
"#",
"#selfdrive",
"#phonelibs/bzip2",
"#phonelibs/libyuv/include",
"#phonelibs/openmax/include",
"#phonelibs/json/src",
"#phonelibs/json11",
"#phonelibs/eigen",
"#phonelibs/curl/include",
"#phonelibs/opencv/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",
"#cereal/messaging",
"#cereal",
"#opendbc/can",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags_asan,
RPATH=rpath,
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++14"] + cxxflags,
LIBPATH=libpath +
[
"#cereal",
"#selfdrive/common",
"#phonelibs",
]
)
if os.environ.get('SCONS_CACHE'):
CacheDir('/tmp/scons_cache')
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]
#zmq = 'zmq'
# still needed for apks
zmq = FindFile("libzmq.a", libpath)
Export('env', 'arch', 'zmq', 'SHARED')
# 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, 'json']
visionipc = _visionipc
gpucommon = [_gpucommon] + _gpu_libs
Export('common', 'visionipc', 'gpucommon')
SConscript(['opendbc/can/SConscript'])
SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['phonelibs/SConscript'])
if arch != "Darwin":
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/boardd/SConscript'])
SConscript(['selfdrive/proclogd/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
if arch == "aarch64":
SConscript(['selfdrive/logcatd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/clocksd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/locationd/kalman/SConscript'])
# TODO: finish cereal, dbcbuilder, MPC
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