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Import('env', 'arch')
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templates = Glob('#rednose/templates/*')
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sympy_helpers = "#rednose/helpers/sympy_helpers.py"
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ekf_sym = "#rednose/helpers/ekf_sym.py"
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to_build = {
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'live': ('live_kf.py', 'generated'),
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'car': ('car_kf.py', 'generated'),
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}
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if arch != "aarch64":
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to_build.update({
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'gnss': ('gnss_kf.py', 'generated'),
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'loc_4': ('loc_kf.py', 'generated'),
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'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', 'generated'),
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'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', 'generated'),
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'feature_handler_5': ('#rednose/helpers/feature_handler.py', 'generated'),
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'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', 'generated'),
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})
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found = {}
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for target, (command, generated_folder) in to_build.items():
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if File(command).exists():
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found[target] = (command, generated_folder)
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for target, (command, generated_folder) in found.items():
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target_files = File([f'{generated_folder}/{target}.cpp', f'{generated_folder}/{target}.h'])
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command_file = File(command)
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env.Command(target_files,
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[templates, command_file, sympy_helpers, ekf_sym],
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command_file.get_abspath() + " " + target + " " + Dir(generated_folder).get_abspath())
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env.SharedLibrary(f'{generated_folder}/' + target, target_files[0])
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