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307 lines
7.7 KiB
307 lines
7.7 KiB
import os
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import shutil
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import subprocess
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import sys
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import sysconfig
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import platform
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import numpy as np
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TICI = os.path.isfile('/TICI')
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Decider('MD5-timestamp')
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AddOption('--test',
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action='store_true',
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help='build test files')
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AddOption('--asan',
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action='store_true',
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help='turn on ASAN')
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real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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if platform.system() == "Darwin":
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arch = "Darwin"
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if arch == "aarch64" and TICI:
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arch = "larch64"
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USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
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QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
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if arch == "aarch64" or arch == "larch64":
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lenv = {
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"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
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"PATH": os.environ['PATH'],
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}
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if arch == "aarch64":
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# android
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lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
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lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
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cpppath = [
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"#phonelibs/opencl/include",
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]
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libpath = [
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"/usr/lib",
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"/system/vendor/lib64",
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"/system/comma/usr/lib",
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"#phonelibs/nanovg",
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]
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if arch == "larch64":
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libpath += [
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"#phonelibs/snpe/larch64",
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"#phonelibs/libyuv/larch64/lib",
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"/usr/lib/aarch64-linux-gnu"
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]
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cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
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cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
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rpath = ["/usr/local/lib"]
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else:
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libpath += [
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"#phonelibs/snpe/aarch64",
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"#phonelibs/libyuv/lib",
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"/system/vendor/lib64"
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]
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cflags = ["-DQCOM", "-mcpu=cortex-a57"]
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cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
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rpath = []
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if QCOM_REPLAY:
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cflags += ["-DQCOM_REPLAY"]
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cxxflags += ["-DQCOM_REPLAY"]
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else:
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cflags = []
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cxxflags = []
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lenv = {
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"PATH": "#external/bin:" + os.environ['PATH'],
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}
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cpppath = [
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"#external/tensorflow/include",
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]
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if arch == "Darwin":
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libpath = [
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"#phonelibs/libyuv/mac/lib",
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"#cereal",
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"#selfdrive/common",
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"/usr/local/lib",
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"/System/Library/Frameworks/OpenGL.framework/Libraries",
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]
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cflags += ["-DGL_SILENCE_DEPRECATION"]
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cxxflags += ["-DGL_SILENCE_DEPRECATION"]
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else:
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libpath = [
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"#phonelibs/snpe/x86_64-linux-clang",
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"#phonelibs/libyuv/x64/lib",
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"#external/tensorflow/lib",
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"#cereal",
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"#selfdrive/common",
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"/usr/lib",
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"/usr/local/lib",
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]
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rpath = [
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"phonelibs/snpe/x86_64-linux-clang",
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"external/tensorflow/lib",
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"cereal",
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"selfdrive/common"
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]
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# allows shared libraries to work globally
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rpath = [os.path.join(os.getcwd(), x) for x in rpath]
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if GetOption('asan'):
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ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
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ldflags_asan = ["-fsanitize=address"]
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else:
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ccflags_asan = []
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ldflags_asan = []
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# change pythonpath to this
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lenv["PYTHONPATH"] = Dir("#").path
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env = Environment(
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ENV=lenv,
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CCFLAGS=[
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"-g",
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"-fPIC",
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"-O2",
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"-Wunused",
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"-Werror",
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"-Wno-unknown-warning-option",
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"-Wno-deprecated-register",
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"-Wno-register",
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"-Wno-inconsistent-missing-override",
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"-Wno-c99-designator",
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"-Wno-reorder-init-list",
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] + cflags + ccflags_asan,
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CPPPATH=cpppath + [
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"#",
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"#selfdrive",
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"#phonelibs/bzip2",
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"#phonelibs/libyuv/include",
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"#phonelibs/openmax/include",
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"#phonelibs/json11",
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"#phonelibs/curl/include",
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"#phonelibs/libgralloc/include",
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"#phonelibs/android_frameworks_native/include",
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"#phonelibs/android_hardware_libhardware/include",
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"#phonelibs/android_system_core/include",
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"#phonelibs/linux/include",
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"#phonelibs/snpe/include",
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"#phonelibs/nanovg",
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"#selfdrive/boardd",
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"#selfdrive/common",
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"#selfdrive/camerad",
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"#selfdrive/camerad/include",
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"#selfdrive/loggerd/include",
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"#selfdrive/modeld",
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"#selfdrive/sensord",
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"#selfdrive/ui",
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"#cereal/messaging",
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"#cereal",
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"#opendbc/can",
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],
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CC='clang',
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CXX='clang++',
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LINKFLAGS=ldflags_asan,
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RPATH=rpath,
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CFLAGS=["-std=gnu11"] + cflags,
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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LIBPATH=libpath + [
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"#cereal",
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"#phonelibs",
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"#opendbc/can",
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"#selfdrive/boardd",
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"#selfdrive/common",
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],
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CYTHONCFILESUFFIX=".cpp",
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COMPILATIONDB_USE_ABSPATH=True,
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tools=["default", "cython", "compilation_db"],
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)
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if GetOption('test'):
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env.CompilationDatabase('compile_commands.json')
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if os.environ.get('SCONS_CACHE'):
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cache_dir = '/tmp/scons_cache'
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if os.getenv('CI'):
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branch = os.getenv('GIT_BRANCH')
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if QCOM_REPLAY:
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cache_dir = '/tmp/scons_cache_qcom_replay'
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elif branch is not None and branch != 'master':
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cache_dir_branch = '/tmp/scons_cache_' + branch
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if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
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shutil.copytree(cache_dir, cache_dir_branch)
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cache_dir = cache_dir_branch
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elif TICI:
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cache_dir = '/data/scons_cache'
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CacheDir(cache_dir)
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node_interval = 5
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node_count = 0
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def progress_function(node):
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global node_count
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node_count += node_interval
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sys.stderr.write("progress: %d\n" % node_count)
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if os.environ.get('SCONS_PROGRESS'):
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Progress(progress_function, interval=node_interval)
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SHARED = False
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def abspath(x):
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if arch == 'aarch64':
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pth = os.path.join("/data/pythonpath", x[0].path)
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env.Depends(pth, x)
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return File(pth)
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else:
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# rpath works elsewhere
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return x[0].path.rsplit("/", 1)[1][:-3]
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# Cython build enviroment
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py_include = sysconfig.get_paths()['include']
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envCython = env.Clone()
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envCython["CPPPATH"] += [py_include, np.get_include()]
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envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
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envCython["LIBS"] = []
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if arch == "Darwin":
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envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
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elif arch == "aarch64":
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envCython["LINKFLAGS"] = ["-shared"]
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envCython["LIBS"] = [os.path.basename(py_include)]
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else:
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envCython["LINKFLAGS"] = ["-pthread", "-shared"]
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Export('envCython')
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# still needed for apks
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zmq = 'zmq'
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Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
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# cereal and messaging are shared with the system
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SConscript(['cereal/SConscript'])
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if SHARED:
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cereal = abspath([File('cereal/libcereal_shared.so')])
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messaging = abspath([File('cereal/libmessaging_shared.so')])
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else:
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cereal = [File('#cereal/libcereal.a')]
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messaging = [File('#cereal/libmessaging.a')]
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Export('cereal', 'messaging')
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SConscript(['selfdrive/common/SConscript'])
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Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
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if SHARED:
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common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
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else:
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common = [_common, 'json11']
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visionipc = _visionipc
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gpucommon = [_gpucommon] + _gpu_libs
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Export('common', 'visionipc', 'gpucommon')
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SConscript(['opendbc/can/SConscript'])
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SConscript(['common/SConscript'])
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SConscript(['common/kalman/SConscript'])
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SConscript(['common/transformations/SConscript'])
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SConscript(['phonelibs/SConscript'])
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SConscript(['selfdrive/camerad/SConscript'])
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SConscript(['selfdrive/modeld/SConscript'])
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SConscript(['selfdrive/controls/lib/cluster/SConscript'])
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SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
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SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
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SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
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SConscript(['selfdrive/boardd/SConscript'])
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SConscript(['selfdrive/proclogd/SConscript'])
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SConscript(['selfdrive/clocksd/SConscript'])
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SConscript(['selfdrive/loggerd/SConscript'])
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SConscript(['selfdrive/locationd/SConscript'])
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SConscript(['selfdrive/locationd/models/SConscript'])
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SConscript(['selfdrive/sensord/SConscript'])
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SConscript(['selfdrive/ui/SConscript'])
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if arch != "Darwin":
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SConscript(['selfdrive/logcatd/SConscript'])
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if arch == "x86_64":
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SConscript(['tools/lib/index_log/SConscript'])
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