openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
lenv = env.Clone()
libs = [messaging, common, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'czmq', 'kj', 'yuv', gpucommon, visionipc]
common_src = [
"models/commonmodel.c",
"runners/snpemodel.cc",
"transforms/loadyuv.c",
"transforms/transform.c"]
if arch == "aarch64":
libs += ['gsl', 'CB', 'gnustl_shared']
elif arch == "larch64":
libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']
# no screen
lenv['CFLAGS'].append("-DNOSCREEN")
lenv['CXXFLAGS'].append("-DNOSCREEN")
else:
libs += ['symphony-cpu', 'pthread']
# for tensorflow support
common_src += ['runners/tfmodel.cc']
# tell runners to use it
lenv['CFLAGS'].append("-DUSE_TF_MODEL")
lenv['CXXFLAGS'].append("-DUSE_TF_MODEL")
common = lenv.Object(common_src)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common, LIBS=libs)
lenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common, LIBS=libs)