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dragonpilot
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build nui with scons (#19561)

Browse Source 
* it builds

* cleanup

* remove that
pull/214/head
Adeeb Shihadeh 5 years ago committed by GitHub
parent 9890f958d9
commit 3c00e6792c
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 87 additions and 125 deletions
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  1. 69
      SConstruct
  2. 79
      selfdrive/ui/SConscript
  3. 2
      tools/nui/.gitignore
  4. 11
      tools/nui/SConscript
  5. 8
      tools/nui/Unlogger.cpp
  6. 5
      tools/nui/Unlogger.hpp
  7. 1
      tools/nui/main.cpp
  8. 37
      tools/nui/nui.pro

69
SConstruct
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@ -75,7 +75,6 @@ if arch == "aarch64" or arch == "larch64":
if QCOM_REPLAY: if QCOM_REPLAY:
cflags += ["-DQCOM_REPLAY"] cflags += ["-DQCOM_REPLAY"]
cxxflags += ["-DQCOM_REPLAY"] cxxflags += ["-DQCOM_REPLAY"]
else: else:
cflags = [] cflags = []
cxxflags = [] cxxflags = []
@ -245,6 +244,64 @@ else:
Export('envCython') Export('envCython')
# Qt build environment
qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network"]
qt_libs = []
if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
]
qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
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_CORE_LIB"
]
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('qt_env')
# still needed for apks # still needed for apks
zmq = 'zmq' zmq = 'zmq'
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY') Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
@ -271,12 +328,17 @@ else:
Export('common', 'visionipc', 'gpucommon') Export('common', 'visionipc', 'gpucommon')
# Build openpilot
SConscript(['cereal/SConscript'])
SConscript(['opendbc/can/SConscript']) SConscript(['opendbc/can/SConscript'])
SConscript(['phonelibs/SConscript'])
SConscript(['common/SConscript']) SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript']) SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript']) SConscript(['common/transformations/SConscript'])
SConscript(['phonelibs/SConscript'])
SConscript(['selfdrive/camerad/SConscript']) SConscript(['selfdrive/camerad/SConscript'])
SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/modeld/SConscript'])
@ -300,5 +362,6 @@ SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin": if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript']) SConscript(['selfdrive/logcatd/SConscript'])
if arch == "x86_64": if real_arch == "x86_64":
SConscript(['tools/nui/SConscript'])
SConscript(['tools/lib/index_log/SConscript']) SConscript(['tools/lib/index_log/SConscript'])

79
selfdrive/ui/SConscript
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@ -1,59 +1,5 @@
import os import os
Import('env', 'arch', 'real_arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal') Import('env', 'qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
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_BASE + "include/QtNetwork",
]
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/QtNetwork",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
]
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_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
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)
src = ['ui.cc', 'paint.cc', 'sidebar.cc', '#phonelibs/nanovg/nanovg.c'] src = ['ui.cc', 'paint.cc', 'sidebar.cc', '#phonelibs/nanovg/nanovg.c']
@ -70,20 +16,7 @@ if qt_env is None:
LINKFLAGS=linkflags, LINKFLAGS=linkflags,
LIBS=libs) LIBS=libs)
else: else:
qt_libs = ["pthread", "ssl", "crypto"] qt_libs = qt_env["LIBS"] + libs + ["pthread", "ssl", "crypto"]
qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network"]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
if arch == "Darwin":
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
else:
qt_libs += [f"Qt5{m}" for m in qt_modules]
widgets = qt_env.Library("qt_widgets", widgets = qt_env.Library("qt_widgets",
["qt/qt_window.cc", "qt/qt_sound.cc", "qt/widgets/keyboard.cc", "qt/widgets/input_field.cc", "qt/widgets/drive_stats.cc", ["qt/qt_window.cc", "qt/qt_sound.cc", "qt/widgets/keyboard.cc", "qt/widgets/input_field.cc", "qt/widgets/drive_stats.cc",
@ -92,11 +25,11 @@ else:
qt_libs.append(widgets) qt_libs.append(widgets)
qt_src = ["qt/ui.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc"] + src qt_src = ["qt/ui.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc"] + src
qt_env.Program("_ui", qt_src, LIBS=qt_libs + libs) qt_env.Program("_ui", qt_src, LIBS=qt_libs)
# spinner and text window # spinner and text window
qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs + libs) qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs + libs) qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
# build setup, factory resetter, and installer # build setup, factory resetter, and installer
if "BUILD_SETUP" in os.environ: if "BUILD_SETUP" in os.environ:
@ -111,4 +44,4 @@ else:
] ]
for name, branch in installers: for name, branch in installers:
flags = qt_env["CXXFLAGS"] + [f"-D{branch}"] flags = qt_env["CXXFLAGS"] + [f"-D{branch}"]
qt_env.Program(f"qt/setup/installer_{name}", ["qt/setup/installer.cc"], LIBS=qt_libs, CXXFLAGS=flags) qt_env.Program(f"qt/setup/installer_{name}", ["qt/setup/installer.cc"], LIBS=qt_libs)

2
tools/nui/.gitignore vendored
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@ -1,9 +1,7 @@
Makefile
.*.swp .*.swp
*.o *.o
_nui _nui
moc_* moc_*
.qmake.stash
nui.app/* nui.app/*
routes.json routes.json
_nui.app _nui.app

11
tools/nui/SConscript
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@ -0,0 +1,11 @@
Import('qt_env', 'messaging')
qt_env['CPPPATH'] += ["#tools/clib"]
qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
libs = [messaging, 'avutil', 'avcodec', 'avformat', 'bz2', 'capnp', 'kj',
'pthread', 'swscale', 'zmq']
qt_env.Program("_nui",
['main.cpp', 'Unlogger.cpp', 'FileReader.cpp', '../clib/FrameReader.cpp'],
LIBS=qt_env['LIBS'] + libs)

8
tools/nui/Unlogger.cpp
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@ -1,12 +1,12 @@
#include <string> #include <string>
#include <vector> #include <vector>
#include <yaml-cpp/yaml.h>
#include <capnp/dynamic.h> #include <capnp/dynamic.h>
#include <capnp/schema.h> #include <capnp/schema.h>
// include the dynamic struct // include the dynamic struct
#include "cereal/gen/cpp/car.capnp.c++" #include "cereal/gen/cpp/car.capnp.c++"
#include "cereal/gen/cpp/log.capnp.c++" #include "cereal/gen/cpp/log.capnp.c++"
#include "cereal/services.h"
#include "Unlogger.hpp" #include "Unlogger.hpp"
@ -27,7 +27,6 @@ static inline uint64_t nanos_since_boot() {
Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, FrameReader*> *frs_, int seek) Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, FrameReader*> *frs_, int seek)
: events(events_), events_lock(events_lock_), frs(frs_) { : events(events_), events_lock(events_lock_), frs(frs_) {
ctx = Context::create(); ctx = Context::create();
YAML::Node service_list = YAML::LoadFile("../../cereal/service_list.yaml");
seek_request = seek*1e9; seek_request = seek*1e9;
@ -37,9 +36,8 @@ Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, Fram
QStringList allow = QString(getenv("ALLOW")).split(","); QStringList allow = QString(getenv("ALLOW")).split(",");
qDebug() << "allowlist" << allow; qDebug() << "allowlist" << allow;
for (const auto& it : service_list) { for (const auto& it : services) {
auto name = it.first.as<std::string>(); std::string name = it.name;
if (allow[0].size() > 0 && !allow.contains(name.c_str())) { if (allow[0].size() > 0 && !allow.contains(name.c_str())) {
qDebug() << "not allowing" << name.c_str(); qDebug() << "not allowing" << name.c_str();
continue; continue;

5
tools/nui/Unlogger.hpp
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@ -1,5 +1,4 @@
#ifndef UNLOGGER_HPP #pragma once
#define UNLOGGER_HPP
#include <QThread> #include <QThread>
#include <QReadWriteLock> #include <QReadWriteLock>
@ -32,5 +31,3 @@ Q_OBJECT
bool paused = false; bool paused = false;
}; };
#endif

1
tools/nui/main.cpp
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@ -161,7 +161,6 @@ void Window::paintEvent(QPaintEvent *event) {
timer.start(); timer.start();
uint64_t t0 = events.begin().key(); uint64_t t0 = events.begin().key();
uint64_t t1 = (events.end()-1).key();
//p.drawRect(0, 0, 600, 100); //p.drawRect(0, 0, 600, 100);

37
tools/nui/nui.pro
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@ -1,37 +0,0 @@
######################################################################
# Automatically generated by qmake (3.0) Tue Oct 29 11:15:25 2019
######################################################################
TEMPLATE = app
TARGET = _nui
INCLUDEPATH += .
# Input
SOURCES += main.cpp FileReader.cpp Unlogger.cpp ../clib/FrameReader.cpp
HEADERS = FileReader.hpp Unlogger.hpp ../clib/FrameReader.hpp
CONFIG += c++14
CONFIG += debug
QT += widgets network core
BASEDIR = "../../"
PHONELIBS = $$BASEDIR"phonelibs"
INCLUDEPATH = $$PHONELIBS/capnp-cpp/include $$PHONELIBS/yaml-cpp/include ../clib/
unix:!macx {
LIBS += -L$$PHONELIBS/capnp-cpp/x64/lib -L$$PHONELIBS/yaml-cpp/x64/lib -Wl,-rpath=$$PHONELIBS/capnp-cpp/x64/lib
}
macx: {
LIBS += -L$$PHONELIBS/capnp-cpp/mac/lib -L$$PHONELIBS/yaml-cpp/mac/lib
}
LIBS += -lcapnp -lkj -lyaml-cpp
INCLUDEPATH += /usr/local/include
INCLUDEPATH += $$PHONELIBS/capnp-cpp/include $$BASEDIR $$BASEDIR/cereal/messaging $$PHONELIBS/yaml-cpp/include
LIBS += -L/usr/local/lib -lavformat -lavcodec -lavutil -lswscale
LIBS += -lbz2 $$BASEDIR/cereal/libmessaging.a -lzmq
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