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 os
Import('env', 'arch', 'real_arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
qt_env = None
if arch in ["x86_64", "Darwin", "larch64"]:
qt_env = env.Clone()
if arch == "Darwin":
qt_env['QTDIR'] = "/usr/local/opt/qt"
QT_BASE = "/usr/local/opt/qt/"
qt_dirs = [
QT_BASE + "include/",
QT_BASE + "include/QtWidgets",
QT_BASE + "include/QtGui",
QT_BASE + "include/QtCore",
QT_BASE + "include/QtDBus",
QT_BASE + "include/QtMultimedia",
]
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
else:
qt_env['QTDIR'] = "/usr"
qt_dirs = [
f"/usr/include/{real_arch}-linux-gnu/qt5",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
]
qt_env.Tool('qt')
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qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
"-DQT_NO_DEBUG",
"-DQT_WIDGETS_LIB",
"-DQT_GUI_LIB",
"-DQT_CORE_LIB"
]
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
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src = ['ui.cc', 'paint.cc', 'sidebar.cc', '#phonelibs/nanovg/nanovg.c']
libs = [common, 'zmq', 'capnp', 'kj', 'm', cereal, messaging, gpucommon, visionipc]
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if qt_env is None:
libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware',
'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', 'OpenCL']
linkflags = ['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib']
src += ["android/ui.cc", "android/sl_sound.cc"]
env.Program('_ui', src,
LINKFLAGS=linkflags,
LIBS=libs)
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else:
qt_libs = ["pthread"]
qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia"]
if arch == "larch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
if arch == "Darwin":
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
else:
qt_libs += [f"Qt5{m}" for m in qt_modules]
qt_env.Library("qt_widgets",
["qt/qt_window.cc", "qt/qt_sound.cc", "qt/widgets/keyboard.cc", "qt/widgets/input_field.cc",
"qt/offroad/wifi.cc", "qt/offroad/wifiManager.cc", "qt/widgets/toggle.cc", "qt/widgets/offroad_alerts.cc"],
LIBS=qt_libs)
qt_libs.append("qt_widgets")
qt_src = ["qt/ui.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc"] + src
qt_env.Program("_ui", qt_src, LIBS=qt_libs + libs)
# spinner and text window
qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs + libs)
qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs + libs)
# setup and installer
if "BUILD_SETUP" in os.environ:
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qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc"], LIBS=qt_libs + ['curl'])
installers = [
("openpilot", "master"),
("openpilot_test", "master"),
#("dashcam", "dashcam"),
#("dashcam_test", "dashcam"),
]
for name, branch in installers:
flags = qt_env["CXXFLAGS"] + [f"-D{branch}"]
qt_env.Program(f"qt/setup/installer_{name}", ["qt/setup/installer.cc"], LIBS=qt_libs, CXXFLAGS=flags)