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Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations', 'socketmaster')
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loc_libs = [cereal, socketmaster, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl']
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# build ekf models
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rednose_gen_dir = 'models/generated'
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rednose_gen_deps = [
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"models/constants.py",
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]
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live_ekf = env.RednoseCompileFilter(
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target='live',
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filter_gen_script='models/live_kf.py',
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output_dir=rednose_gen_dir,
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extra_gen_artifacts=['live_kf_constants.h'],
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gen_script_deps=rednose_gen_deps,
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)
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car_ekf = env.RednoseCompileFilter(
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target='car',
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filter_gen_script='models/car_kf.py',
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output_dir=rednose_gen_dir,
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extra_gen_artifacts=[],
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gen_script_deps=rednose_gen_deps,
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)
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# locationd build
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locationd_sources = ["locationd.cc", "models/live_kf.cc"]
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lenv = env.Clone()
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# ekf filter libraries need to be linked, even if no symbols are used
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if arch != "Darwin":
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lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
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lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
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lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
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locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations)
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lenv.Depends(locationd, rednose)
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lenv.Depends(locationd, live_ekf)
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