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import os
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Import('qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc',
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'cereal', 'transformations')
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base_libs = [gpucommon, common, messaging, cereal, visionipc, transformations, 'zmq',
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'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
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maps = arch in ['larch64', 'x86_64']
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if arch == 'aarch64':
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base_libs += ['log', 'utils', 'gui', 'ui', 'CB', 'gsl', 'adreno_utils', 'cutils', 'uuid']
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if maps and arch == 'x86_64':
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rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
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qt_env["RPATH"] += rpath
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if arch == "Darwin":
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del base_libs[base_libs.index('OpenCL')]
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qt_env['FRAMEWORKS'] += ['OpenCL']
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widgets_src = ["qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
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"qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
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"qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
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"qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
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"qt/request_repeater.cc"]
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if arch != 'aarch64':
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widgets_src += ["qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
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qt_env['CPPDEFINES'] = []
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if maps:
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base_libs += ['qmapboxgl']
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widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"]
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qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
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widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
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qt_libs = [widgets] + base_libs
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# build assets
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assets = "#selfdrive/assets/assets.cc"
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assets_src = "#selfdrive/assets/assets.qrc"
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qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
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qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"]))
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asset_obj = qt_env.Object("assets", assets)
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# build soundd
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qt_env.Program("_soundd", "soundd.cc", LIBS=base_libs)
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if GetOption('test'):
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qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs)
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# spinner and text window
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qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
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qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
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# build main UI
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qt_src = ["main.cc", "ui.cc", "paint.cc", "qt/sidebar.cc", "qt/onroad.cc",
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"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
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"qt/offroad/onboarding.cc", "qt/offroad/driverview.cc",
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"#third_party/nanovg/nanovg.c"]
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qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
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# setup and factory resetter
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if arch != 'aarch64' and GetOption('setup'):
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qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
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qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
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LIBS=qt_libs + ['curl', 'common', 'json11'])
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if GetOption('setup'):
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# buidl updater UI
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qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
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# build installers
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senv = qt_env.Clone()
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senv['LINKFLAGS'].append('-Wl,-strip-debug')
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release = "release3" if arch == 'larch64' else "release2"
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dashcam = "dashcam3" if arch == 'larch64' else "dashcam"
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installers = [
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("openpilot", release),
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("openpilot_test", f"{release}-staging"),
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("openpilot_nightly", "master-ci"),
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("openpilot_internal", "master"),
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("dashcam", dashcam),
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("dashcam_test", f"{dashcam}-staging"),
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]
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cont = {}
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for brand in ("openpilot", "dashcam"):
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cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh",
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"ld -r -b binary -o $TARGET $SOURCE")
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for name, branch in installers:
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brand = "dashcam" if "dashcam" in branch else "openpilot"
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d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"}
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if "internal" in name:
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d['INTERNAL'] = "1"
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import requests
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r = requests.get("https://github.com/commaci2.keys")
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r.raise_for_status()
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d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
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obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
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f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs)
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# keep installers small
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assert f[0].get_size() < 300*1e3
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# build headless replay
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if arch in ['x86_64', 'Darwin'] and os.path.exists(Dir("#tools/").get_abspath()):
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qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
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replay_lib_src = ["replay/replay.cc", "replay/camera.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
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replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
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replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'swscale'] + qt_libs
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qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
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qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11'])
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if GetOption('test'):
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qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
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