mirror of https://github.com/commaai/openpilot.git
402 lines
11 KiB
Python
402 lines
11 KiB
Python
import os
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import subprocess
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import sys
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import sysconfig
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import platform
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import numpy as np
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import SCons.Errors
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SCons.Warnings.warningAsException(True)
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TICI = os.path.isfile('/TICI')
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AGNOS = TICI
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Decider('MD5-timestamp')
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AddOption('--kaitai',
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action='store_true',
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help='Regenerate kaitai struct parsers')
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AddOption('--asan',
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action='store_true',
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help='turn on ASAN')
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AddOption('--ubsan',
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action='store_true',
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help='turn on UBSan')
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AddOption('--coverage',
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action='store_true',
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help='build with test coverage options')
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AddOption('--clazy',
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action='store_true',
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help='build with clazy')
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AddOption('--compile_db',
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action='store_true',
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help='build clang compilation database')
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AddOption('--ccflags',
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action='store',
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type='string',
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default='',
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help='pass arbitrary flags over the command line')
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AddOption('--snpe',
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action='store_true',
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help='use SNPE on PC')
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AddOption('--external-sconscript',
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action='store',
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metavar='FILE',
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dest='external_sconscript',
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help='add an external SConscript to the build')
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AddOption('--pc-thneed',
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action='store_true',
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dest='pc_thneed',
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help='use thneed on pc')
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AddOption('--minimal',
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action='store_false',
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dest='extras',
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default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
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help='the minimum build to run openpilot. no tests, tools, etc.')
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## Architecture name breakdown (arch)
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## - larch64: linux tici aarch64
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## - aarch64: linux pc aarch64
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## - x86_64: linux pc x64
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## - Darwin: mac x64 or arm64
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real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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if platform.system() == "Darwin":
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arch = "Darwin"
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brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
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elif arch == "aarch64" and AGNOS:
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arch = "larch64"
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assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
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lenv = {
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"PATH": os.environ['PATH'],
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"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
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"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
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"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
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"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
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"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
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}
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rpath = lenv["LD_LIBRARY_PATH"].copy()
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if arch == "larch64":
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lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
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cpppath = [
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"#third_party/opencl/include",
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]
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libpath = [
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"/usr/local/lib",
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"/usr/lib",
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"/system/vendor/lib64",
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f"#third_party/acados/{arch}/lib",
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]
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libpath += [
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"#third_party/snpe/larch64",
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"#third_party/libyuv/larch64/lib",
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"/usr/lib/aarch64-linux-gnu"
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]
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cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
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cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
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rpath += ["/usr/local/lib"]
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else:
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cflags = []
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cxxflags = []
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cpppath = []
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rpath += []
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# MacOS
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if arch == "Darwin":
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libpath = [
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f"#third_party/libyuv/{arch}/lib",
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f"#third_party/acados/{arch}/lib",
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f"{brew_prefix}/lib",
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f"{brew_prefix}/opt/openssl@3.0/lib",
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"/System/Library/Frameworks/OpenGL.framework/Libraries",
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]
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cflags += ["-DGL_SILENCE_DEPRECATION"]
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cxxflags += ["-DGL_SILENCE_DEPRECATION"]
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cpppath += [
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f"{brew_prefix}/include",
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f"{brew_prefix}/opt/openssl@3.0/include",
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]
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lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
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# Linux
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else:
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libpath = [
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f"#third_party/acados/{arch}/lib",
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f"#third_party/libyuv/{arch}/lib",
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f"#third_party/mapbox-gl-native-qt/{arch}",
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"/usr/lib",
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"/usr/local/lib",
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]
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if arch == "x86_64":
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libpath += [
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f"#third_party/snpe/{arch}"
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]
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rpath += [
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Dir(f"#third_party/snpe/{arch}").abspath,
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]
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if GetOption('asan'):
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ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
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ldflags = ["-fsanitize=address"]
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elif GetOption('ubsan'):
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ccflags = ["-fsanitize=undefined"]
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ldflags = ["-fsanitize=undefined"]
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else:
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ccflags = []
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ldflags = []
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# no --as-needed on mac linker
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if arch != "Darwin":
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ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
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# Enable swaglog include in submodules
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cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
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cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
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ccflags_option = GetOption('ccflags')
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if ccflags_option:
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ccflags += ccflags_option.split(' ')
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env = Environment(
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ENV=lenv,
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CCFLAGS=[
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"-g",
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"-fPIC",
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"-O2",
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"-Wunused",
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"-Werror",
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"-Wshadow",
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"-Wno-unknown-warning-option",
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"-Wno-deprecated-register",
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"-Wno-register",
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"-Wno-inconsistent-missing-override",
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"-Wno-c99-designator",
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"-Wno-reorder-init-list",
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"-Wno-error=unused-but-set-variable",
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] + cflags + ccflags,
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CPPPATH=cpppath + [
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"#",
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"#third_party/acados/include",
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"#third_party/acados/include/blasfeo/include",
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"#third_party/acados/include/hpipm/include",
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"#third_party/catch2/include",
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"#third_party/libyuv/include",
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"#third_party/json11",
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"#third_party/linux/include",
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"#third_party/snpe/include",
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"#third_party/mapbox-gl-native-qt/include",
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"#third_party/qrcode",
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"#third_party",
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"#cereal",
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"#opendbc/can",
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],
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CC='clang',
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CXX='clang++',
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LINKFLAGS=ldflags,
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RPATH=rpath,
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CFLAGS=["-std=gnu11"] + cflags,
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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LIBPATH=libpath + [
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"#cereal",
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"#third_party",
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"#opendbc/can",
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"#selfdrive/boardd",
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"#common",
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"#rednose/helpers",
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],
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CYTHONCFILESUFFIX=".cpp",
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COMPILATIONDB_USE_ABSPATH=True,
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REDNOSE_ROOT="#",
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tools=["default", "cython", "compilation_db", "rednose_filter"],
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toolpath=["#rednose_repo/site_scons/site_tools"],
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)
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if arch == "Darwin":
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# RPATH is not supported on macOS, instead use the linker flags
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darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
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env["LINKFLAGS"] += darwin_rpath_link_flags
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if GetOption('compile_db'):
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env.CompilationDatabase('compile_commands.json')
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# Setup cache dir
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cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
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CacheDir(cache_dir)
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Clean(["."], cache_dir)
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node_interval = 5
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node_count = 0
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def progress_function(node):
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global node_count
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node_count += node_interval
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sys.stderr.write("progress: %d\n" % node_count)
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if os.environ.get('SCONS_PROGRESS'):
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Progress(progress_function, interval=node_interval)
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# Cython build environment
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py_include = sysconfig.get_paths()['include']
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envCython = env.Clone()
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envCython["CPPPATH"] += [py_include, np.get_include()]
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envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
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envCython["CCFLAGS"].remove("-Werror")
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envCython["LIBS"] = []
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if arch == "Darwin":
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envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
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else:
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envCython["LINKFLAGS"] = ["-pthread", "-shared"]
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Export('envCython')
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# Qt build environment
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qt_env = env.Clone()
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qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
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qt_libs = []
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if arch == "Darwin":
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qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
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qt_dirs = [
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os.path.join(qt_env['QTDIR'], "include"),
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]
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qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
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qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
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qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
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qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
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else:
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qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
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qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
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qt_env['QTDIR'] = qt_install_prefix
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qt_dirs = [
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f"{qt_install_headers}",
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f"{qt_install_headers}/QtGui/5.12.8/QtGui",
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]
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qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
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qt_libs = [f"Qt5{m}" for m in qt_modules]
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if arch == "larch64":
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qt_libs += ["GLESv2", "wayland-client"]
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qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
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elif arch != "Darwin":
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qt_libs += ["GL"]
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qt_env['QT3DIR'] = qt_env['QTDIR']
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# compatibility for older SCons versions
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try:
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qt_env.Tool('qt3')
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except SCons.Errors.UserError:
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qt_env.Tool('qt')
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qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
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qt_flags = [
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"-D_REENTRANT",
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"-DQT_NO_DEBUG",
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"-DQT_WIDGETS_LIB",
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"-DQT_GUI_LIB",
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"-DQT_QUICK_LIB",
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"-DQT_QUICKWIDGETS_LIB",
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"-DQT_QML_LIB",
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"-DQT_CORE_LIB",
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"-DQT_MESSAGELOGCONTEXT",
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]
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qt_env['CXXFLAGS'] += qt_flags
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qt_env['LIBPATH'] += ['#selfdrive/ui']
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qt_env['LIBS'] = qt_libs
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if GetOption("clazy"):
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checks = [
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"level0",
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"level1",
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"no-range-loop",
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"no-non-pod-global-static",
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]
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qt_env['CXX'] = 'clazy'
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qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
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qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
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Export('env', 'qt_env', 'arch', 'real_arch')
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# Build common module
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SConscript(['common/SConscript'])
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Import('_common', '_gpucommon')
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common = [_common, 'json11']
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gpucommon = [_gpucommon]
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Export('common', 'gpucommon')
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# Build cereal and messaging
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SConscript(['cereal/SConscript'])
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cereal = [File('#cereal/libcereal.a')]
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messaging = [File('#cereal/libmessaging.a')]
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visionipc = [File('#cereal/libvisionipc.a')]
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messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
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Export('cereal', 'messaging', 'messaging_python', 'visionipc')
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# Build other submodules
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SConscript([
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'body/board/SConscript',
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'opendbc/can/SConscript',
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'panda/SConscript',
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])
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# Build rednose library
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SConscript(['rednose/SConscript'])
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# Build system services
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SConscript([
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'system/proclogd/SConscript',
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'system/ubloxd/SConscript',
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'system/loggerd/SConscript',
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])
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if arch != "Darwin":
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SConscript([
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'system/camerad/SConscript',
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'system/sensord/SConscript',
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'system/logcatd/SConscript',
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])
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# Build openpilot
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SConscript(['third_party/SConscript'])
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SConscript(['selfdrive/boardd/SConscript'])
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SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
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SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
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SConscript(['selfdrive/locationd/SConscript'])
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SConscript(['selfdrive/navd/SConscript'])
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SConscript(['selfdrive/modeld/SConscript'])
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SConscript(['selfdrive/ui/SConscript'])
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if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
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SConscript(['tools/replay/SConscript'])
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SConscript(['tools/cabana/SConscript'])
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external_sconscript = GetOption('external_sconscript')
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if external_sconscript:
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SConscript([external_sconscript])
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