Support scons build on Mac (#1034)

* fix clock and add Darwin sconstruct

* it builds, this changes should be simplifications too

* fix boardd build

* that's the real type of EGLClientBuffer

* remove extra lines

* ui needs opencl on phone

old-commit-hash: f72f78f2b9

SConstruct

@@ -1,6 +1,7 @@
 import os
 import subprocess
 import sys
+import platform
 
 AddOption('--test',
           action='store_true',
@@ -11,6 +12,8 @@ AddOption('--asan',
           help='turn on ASAN')
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
 
 if arch == "aarch64":
   lenv = {
@@ -48,6 +51,19 @@ else:
     "#phonelibs/zmq/x64/include",
     "#external/tensorflow/include",
   ]
+
+  if arch == "Darwin":
+    libpath = [
+      "#phonelibs/capnp-cpp/mac/lib",
+      "#phonelibs/capnp-c/mac/lib",
+      "#phonelibs/yaml-cpp/mac/lib",
+      "#phonelibs/libyuv/mac/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/local/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+  else:
     libpath = [
       "#phonelibs/capnp-cpp/x64/lib",
       "#phonelibs/capnp-c/x64/lib",
@@ -195,8 +211,10 @@ SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['phonelibs/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
+if arch != "Darwin":
   SConscript(['selfdrive/camerad/SConscript'])
+  SConscript(['selfdrive/modeld/SConscript'])
+
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])

common/clock.pyx

@@ -1,6 +1,12 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
-cdef double readclock(int clock_id):
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
+
+cdef double readclock(clockid_t clock_id):
   cdef timespec ts
   cdef double current
 
@@ -8,9 +14,9 @@ cdef double readclock(int clock_id):
   current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
   return current
 
-
 def monotonic_time():
   return readclock(CLOCK_MONOTONIC_RAW)
 
 def sec_since_boot():
   return readclock(CLOCK_BOOTTIME)
+

selfdrive/boardd/boardd_setup.py

@@ -1,4 +1,5 @@
 import subprocess
+import platform
 from distutils.core import Extension, setup
 
 from Cython.Build import cythonize
@@ -10,14 +11,24 @@ import os
 PHONELIBS = os.path.join(BASEDIR, 'phonelibs')
 
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-ARCH_DIR = 'x64' if ARCH == "x86_64" else 'aarch64'
+
+if ARCH == "x86_64":
+  if platform.system() == "Darwin":
+    libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
+    ARCH_DIR = 'mac'
+  else:
+    libraries = [':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libkj.a']
+    ARCH_DIR = 'x64'
+else:
+  libraries = [':libcan_list_to_can_capnp.a', 'capnp', 'kj']
+  ARCH_DIR = 'aarch64'
 
 setup(name='Boardd API Implementation',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(
         Extension(
           "boardd_api_impl",
-          libraries=[':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libkj.a'] if ARCH == "x86_64" else [':libcan_list_to_can_capnp.a', 'capnp', 'kj'],
+          libraries=libraries,
           library_dirs=[
             './',
             PHONELIBS + '/capnp-cpp/' + ARCH_DIR + '/lib/',

selfdrive/common/framebuffer.h

@@ -1,8 +1,6 @@
 #ifndef FRAMEBUFFER_H
 #define FRAMEBUFFER_H
 
-#include <EGL/eglext.h>
-
 #ifdef __cplusplus
 extern "C" {
 #endif

selfdrive/common/glutil.c

@@ -1,8 +1,6 @@
 #include <stdlib.h>
 #include <stdio.h>
 
-#include <GLES3/gl3.h>
-
 #include "glutil.h"
 
 GLuint load_shader(GLenum shaderType, const char *src) {

selfdrive/common/glutil.h

@@ -1,8 +1,21 @@
 #ifndef COMMON_GLUTIL_H
 #define COMMON_GLUTIL_H
 
+#ifdef __APPLE__
+  #include <OpenGL/gl3.h>
+#else
   #include <GLES3/gl3.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 GLuint load_shader(GLenum shaderType, const char *src);
 GLuint load_program(const char *vert_src, const char *frag_src);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

selfdrive/common/util.h

@@ -3,6 +3,10 @@
 
 #include <stdio.h>
 
+#ifndef sighandler_t
+typedef void (*sighandler_t)(int sig);
+#endif
+
 #ifndef __cplusplus
 
 #define min(a,b) \

selfdrive/common/visionimg.h

@@ -2,11 +2,16 @@
 #define VISIONIMG_H
 
 #include "common/visionbuf.h"
+#include "common/glutil.h"
 
-#include <GLES3/gl3.h>
+#ifdef QCOM
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
 #undef Status
+#else
+typedef int EGLImageKHR;
+typedef void *EGLClientBuffer;
+#endif
 
 #ifdef __cplusplus
 extern "C" {

selfdrive/locationd/paramsd.cc

@@ -20,6 +20,7 @@
 #include "locationd_yawrate.h"
 #include "params_learner.h"
 
+#include "common/util.h"
 
 void sigpipe_handler(int sig) {
   LOGE("SIGPIPE received");

selfdrive/locationd/ubloxd_main.cc

@@ -19,6 +19,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "common/util.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"

selfdrive/ui/SConscript

@@ -1,15 +1,17 @@
 Import('env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
 
 src = ['ui.cc', 'paint.cc', '#phonelibs/nanovg/nanovg.c']
-libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, 'OpenCL', gpucommon, visionipc]
+libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, gpucommon, visionipc]
 
 if arch == "aarch64":
   src += ['sound.cc', 'slplay.c']
-  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid']
+  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']
 else:
   src += ['linux.cc']
-  libs += ['EGL', 'pthread', 'X11-xcb', 'xcb', 'X11', 'glfw']
+  libs += ['pthread', 'glfw']
+  linkflags = []
   
 env.Program('_ui', src,
-  LINKFLAGS=['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib'],
+  LINKFLAGS=linkflags,
   LIBS=libs)

selfdrive/ui/linux.cc

@@ -6,19 +6,18 @@
 
 #include "ui.hpp"
 
+#ifndef __APPLE__
 #define GLFW_INCLUDE_ES2
+#else
+#define GLFW_INCLUDE_GLCOREARB
+#endif
+
 #define GLFW_INCLUDE_GLEXT
 #include <GLFW/glfw3.h>
 
 typedef struct FramebufferState FramebufferState;
 typedef struct TouchState TouchState;
 
-#define FALSE 0
-#define TRUE 1
-
-#include <xcb/xcb.h>
-#include <X11/Xlib-xcb.h>
-
 extern "C" {
 
 FramebufferState* framebuffer_init(
@@ -90,7 +89,7 @@ GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
   glBindTexture(GL_TEXTURE_2D, texture);
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
   glGenerateMipmap(GL_TEXTURE_2D);
-  *pkhr = (EGLImageKHR *)1; // not NULL
+  *pkhr = (EGLImageKHR)1; // not NULL
   return texture;
 }
 

selfdrive/ui/paint.cc

@@ -951,7 +951,7 @@ static const mat4 full_to_wide_frame_transform = {{
 
 void ui_nvg_init(UIState *s) {
   // init drawing
-  s->vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+  s->vg = nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
   assert(s->vg);
 
   s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");

selfdrive/ui/ui.hpp

@@ -1,13 +1,24 @@
 #ifndef _UI_H
 #define _UI_H
 
+#ifdef __APPLE__
+#include <OpenGL/gl3.h>
+#define NANOVG_GL3_IMPLEMENTATION
+#define nvgCreate nvgCreateGL3
+#else
 #include <GLES3/gl3.h>
 #include <EGL/egl.h>
+#define NANOVG_GLES3_IMPLEMENTATION
+#define nvgCreate nvgCreateGLES3
+#endif
+
+#include <pthread.h>
 
 #include "nanovg.h"
 
 #include "common/mat.h"
 #include "common/visionipc.h"
+#include "common/visionimg.h"
 #include "common/framebuffer.h"
 #include "common/modeldata.h"
 #include "messaging.hpp"
@@ -141,8 +152,6 @@ typedef struct UIState {
   // framebuffer
   FramebufferState *fb;
   int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
 
   // NVG
   NVGcontext *vg;