From d138a358ebd0e67302a409a346777fc15aeb5b66 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 30 Aug 2023 15:01:03 -0700
Subject: [PATCH] scons: fix multithreaded builds (#29716)

* common_python export

* Single scons call

* transformations_python
---
 SConstruct                                         |  3 ---
 common/SConscript                                  | 14 ++++++++++++--
 common/kalman/SConscript                           |  4 +++-
 common/transformations/SConscript                  |  5 ++---
 .../controls/lib/longitudinal_mpc_lib/SConscript   |  4 ++--
 5 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/SConstruct b/SConstruct
index 478bc885a..f213a5e0b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -417,9 +417,6 @@ SConscript([
 
 SConscript(['third_party/SConscript'])
 
-SConscript(['common/kalman/SConscript'])
-SConscript(['common/transformations/SConscript'])
-
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
diff --git a/common/SConscript b/common/SConscript
index c70343499..d22aca128 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -32,5 +32,15 @@ if GetOption('extras'):
               ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
-# Cython
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+# Cython bindings
+params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+
+SConscript([
+  'kalman/SConscript',
+  'transformations/SConscript'  
+])
+
+Import('simple_kalman_python', 'transformations_python')
+common_python = [params_python, simple_kalman_python, transformations_python]
+
+Export('common_python')
diff --git a/common/kalman/SConscript b/common/kalman/SConscript
index d60354c98..7cba4a9a6 100644
--- a/common/kalman/SConscript
+++ b/common/kalman/SConscript
@@ -1,3 +1,5 @@
 Import('envCython')
 
-envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+
+Export('simple_kalman_python')
diff --git a/common/transformations/SConscript b/common/transformations/SConscript
index ee9b9a2b7..4ac73a165 100644
--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -1,6 +1,5 @@
 Import('env', 'envCython')
 
 transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-Export('transformations')
-
-envCython.Program('transformations.so', 'transformations.pyx')
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 5ce47eab1..79afa1d91 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging_python')
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, messaging_python)
+lenv.Depends(generated_long, [messaging_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")