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46 lines
1.6 KiB
46 lines
1.6 KiB
2 years ago
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Import('env', 'envCython', 'arch', 'rednose_config', 'common')
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generated_folder = rednose_config['generated_folder']
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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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ekf_sym_pyx = "#rednose/helpers/ekf_sym_pyx.pyx"
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ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
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common_ekf = "#rednose/helpers/common_ekf.cc"
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found = {}
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for target, (command, *args) in rednose_config['to_build'].items():
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if File(command).exists():
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found[target] = (command, *args)
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lib_target = [common_ekf]
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for target, (command, combined_lib, extra_generated, deps) in found.items():
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target_files = File([f'{generated_folder}/{target}.cpp', f'{generated_folder}/{target}.h'])
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extra_generated = [File(f'{generated_folder}/{x}') for x in extra_generated]
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command_file = File(command)
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env.Command(target_files + extra_generated,
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[templates, command_file, sympy_helpers, ekf_sym] + deps,
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command_file.get_abspath() + " " + target + " " + Dir(generated_folder).get_abspath())
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if combined_lib:
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lib_target.append(target_files[0])
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else:
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env.SharedLibrary(f'{generated_folder}/' + target, [target_files[0], common_ekf])
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libkf = env.SharedLibrary(f'{generated_folder}/libkf', lib_target)
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lenv = envCython.Clone()
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lenv["LINKFLAGS"] += [libkf[0].get_labspath()]
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# for SWAGLOG support
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if common != "":
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lenv["LIBS"] = ['zmq', common] + lenv["LIBS"]
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ekf_sym_so = lenv.Program('#rednose/helpers/ekf_sym_pyx.so', [ekf_sym_pyx, ekf_sym_cc, common_ekf])
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lenv.Depends(ekf_sym_so, libkf)
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Export('libkf')
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