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import os
import subprocess
import sys
import sysconfig
import platform
import numpy as np
TICI = os.path.isfile('/TICI')
AGNOS = TICI
Decider('MD5-timestamp')
AddOption('--test',
action='store_true',
help='build test files')
AddOption('--extras',
action='store_true',
help='build misc extras, like setup and installer files')
AddOption('--kaitai',
action='store_true',
help='Regenerate kaitai struct parsers')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--clazy',
action='store_true',
help='build with clazy')
AddOption('--compile_db',
action='store_true',
help='build clang compilation database')
AddOption('--snpe',
action='store_true',
help='use SNPE on PC')
AddOption('--external-sconscript',
action='store',
metavar='FILE',
dest='external_sconscript',
help='add an external SConscript to the build')
AddOption('--no-thneed',
action='store_true',
dest='no_thneed',
help='avoid using thneed')
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
if arch == "aarch64" and AGNOS:
arch = "larch64"
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
lenv = {
"PATH": os.environ['PATH'],
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
}
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "larch64":
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
cpppath = [
"#third_party/opencl/include",
]
libpath = [
"/usr/local/lib",
"/usr/lib",
"/system/vendor/lib64",
f"#third_party/acados/{arch}/lib",
]
libpath += [
"#third_party/snpe/larch64",
"#third_party/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu"
]
cpppath += [
"#system/camerad/include",
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath += ["/usr/local/lib"]
else:
cflags = []
cxxflags = []
cpppath = []
# MacOS
if arch == "Darwin":
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
libpath = [
f"#third_party/libyuv/{yuv_dir}/lib",
f"{brew_prefix}/lib",
f"{brew_prefix}/Library",
f"{brew_prefix}/opt/openssl/lib",
f"{brew_prefix}/Cellar",
f"#third_party/acados/{arch}/lib",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
cpppath += [
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl/include",
]
# Linux 86_64
else:
libpath = [
"#third_party/acados/x86_64/lib",
"#third_party/snpe/x86_64-linux-clang",
"#third_party/libyuv/x64/lib",
"#third_party/mapbox-gl-native-qt/x86_64",
"#cereal",
"#common",
"/usr/lib",
"/usr/local/lib",
]
rpath += [
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
Dir("#cereal").abspath,
Dir("#common").abspath
]
if GetOption('asan'):
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags = ["-fsanitize=address"]
elif GetOption('ubsan'):
ccflags = ["-fsanitize=undefined"]
ldflags = ["-fsanitize=undefined"]
else:
ccflags = []
ldflags = []
# no --as-needed on mac linker
if arch != "Darwin":
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
# Enable swaglog include in submodules
cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
env = Environment(
ENV=lenv,
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Wunused",
"-Werror",
"-Wshadow",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",
"-Wno-register",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
"-Wno-error=unused-but-set-variable",
] + cflags + ccflags,
CPPPATH=cpppath + [
"#",
"#third_party/acados/include",
"#third_party/acados/include/blasfeo/include",
"#third_party/acados/include/hpipm/include",
"#third_party/catch2/include",
"#third_party/libyuv/include",
"#third_party/json11",
"#third_party/curl/include",
"#third_party/libgralloc/include",
"#third_party/android_frameworks_native/include",
"#third_party/android_hardware_libhardware/include",
"#third_party/android_system_core/include",
"#third_party/linux/include",
"#third_party/snpe/include",
"#third_party/mapbox-gl-native-qt/include",
"#third_party/qrcode",
"#third_party",
"#cereal",
"#opendbc/can",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags,
RPATH=rpath,
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
"#cereal",
"#third_party",
"#opendbc/can",
"#selfdrive/boardd",
"#common",
],
CYTHONCFILESUFFIX=".cpp",
COMPILATIONDB_USE_ABSPATH=True,
tools=["default", "cython", "compilation_db"],
)
if arch == "Darwin":
env['RPATHPREFIX'] = "-rpath "
if GetOption('compile_db'):
env.CompilationDatabase('compile_commands.json')
# Setup cache dir
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
CacheDir(cache_dir)
Clean(["."], 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
# TODO: this can probably be removed
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]
# Cython build enviroment
py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
envCython["CPPPATH"] += [py_include, np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["LIBS"] = []
if arch == "Darwin":
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
elif arch == "aarch64":
envCython["LINKFLAGS"] = ["-shared"]
envCython["LIBS"] = [os.path.basename(py_include)]
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
Export('envCython')
# Qt build environment
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
qt_libs = []
if arch == "Darwin":
if real_arch == "arm64":
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
else:
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
qt_dirs = [
os.path.join(qt_env['QTDIR'], "include"),
]
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
]
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_QUICK_LIB",
"-DQT_QUICKWIDGETS_LIB",
"-DQT_QML_LIB",
"-DQT_CORE_LIB",
"-DQT_MESSAGELOGCONTEXT",
]
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
qt_env['LIBS'] = qt_libs
if GetOption("clazy"):
checks = [
"level0",
"level1",
"no-range-loop",
"no-non-pod-global-static",
]
qt_env['CXX'] = 'clazy'
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
SConscript(['common/SConscript'])
Import('_common', '_gpucommon')
if SHARED:
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
gpucommon = [_gpucommon]
Export('common', 'gpucommon')
# 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')]
visionipc = [File('#cereal/libvisionipc.a')]
Export('cereal', 'messaging', 'visionipc')
# Build rednose library and ekf models
rednose_deps = [
"#selfdrive/locationd/models/constants.py",
"#selfdrive/locationd/models/gnss_helpers.py",
]
rednose_config = {
'generated_folder': '#selfdrive/locationd/models/generated',
'to_build': {
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
},
}
if arch != "larch64":
rednose_config['to_build'].update({
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
})
Export('rednose_config')
SConscript(['rednose/SConscript'])
# Build system services
SConscript([
'system/camerad/SConscript',
'system/clocksd/SConscript',
'system/proclogd/SConscript',
])
if arch != "Darwin":
SConscript(['system/logcatd/SConscript'])
# Build openpilot
# build submodules
SConscript([
'cereal/SConscript',
'body/board/SConscript',
'panda/board/SConscript',
'opendbc/can/SConscript',
])
SConscript(['third_party/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript'])
SConscript(['tools/replay/SConscript'])
if GetOption('test'):
SConscript('panda/tests/safety/SConscript')
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
SConscript([external_sconscript])