aarch64: ubuntu build support (#29171)

* Add support for aarch64 pc linux

* Add new libyuv path to release files

* Add libyuv's x86_64 lib dir

* Move left-over platform specific dirs from files_common

* Remove libyuv/lib directory (duplicate)

* Fix mpc Sconscripts

* Remove acados lib path from mpc sources

* Fix typo

* Add watch3 exec on aarch64

SConstruct

@@ -64,13 +64,18 @@ AddOption('--no-test',
           default=os.path.islink(Dir('#laika/').abspath),
           help='skip building test files')
 
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
   brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-
-if arch == "aarch64" and AGNOS:
+elif arch == "aarch64" and AGNOS:
   arch = "larch64"
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -132,21 +137,25 @@ else:
       f"{brew_prefix}/opt/openssl@3.0/include",
     ]
     lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
-  # Linux 86_64
+  # Linux
   else:
     libpath = [
-      "#third_party/acados/x86_64/lib",
-      "#third_party/snpe/x86_64-linux-clang",
-      "#third_party/libyuv/x64/lib",
-      "#third_party/mapbox-gl-native-qt/x86_64",
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/mapbox-gl-native-qt/{arch}",
       "#cereal",
       "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
-    rpath += [
-      Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    ]
+
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
 
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -267,9 +276,6 @@ envCython["CCFLAGS"].remove("-Werror")
 envCython["LIBS"] = []
 if arch == "Darwin":
   envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 

release/files_common

@@ -432,15 +432,11 @@ third_party/kaitai/*.h
 third_party/kaitai/*.cpp
 
 third_party/libyuv/include/**
-third_party/libyuv/lib/**
-third_party/libyuv/larch64/**
 
 third_party/snpe/include/**
 third_party/snpe/dsp**
 
 third_party/acados/.gitignore
-third_party/acados/x86_64/**
-third_party/acados/larch64/**
 third_party/acados/include/**
 third_party/acados/acados_template/**
 

release/files_pc

@@ -2,6 +2,7 @@ selfdrive/modeld/runners/onnx*
 
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
-third_party/libyuv/x64/**
+third_party/libyuv/x86_64/**
 third_party/snpe/x86_64/**
 third_party/snpe/x86_64-linux-clang/**
+third_party/acados/x86_64/**

release/files_tici

@@ -1,6 +1,8 @@
+third_party/libyuv/larch64/**
 third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
+third_party/acados/larch64/**
 
 system/timezoned.py
 

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -49,8 +49,6 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 source_list = ['lat_mpc.py',
   '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -56,8 +56,6 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 source_list = ['long_mpc.py',
   '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 

selfdrive/modeld/SConscript

@@ -55,7 +55,8 @@ else:
     del libs[libs.index('OpenCL')]
     lenv['FRAMEWORKS'] = ['OpenCL']
 
-    # no SNPE on Mac
+  if arch == "Darwin" or arch == "aarch64":
+    # no SNPE on Mac and ARM Linux
     del libs[libs.index('SNPE')]
     del common_src[common_src.index('runners/snpemodel.cc')]
 

selfdrive/navd/SConscript

@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visioni
 if arch == 'larch64':
   libs.append('EGL')
 
-if arch in ['larch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':
     rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath
     map_env["RPATH"] += [rpath, ]

selfdrive/ui/SConscript

@@ -9,9 +9,9 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64']
 
-if maps and arch == 'x86_64':
+if maps and arch != 'larch64':
   rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
   qt_env["RPATH"] += rpath
 
@@ -131,5 +131,5 @@ if GetOption('extras'):
     assert f[0].get_size() < 300*1e3
 
 # build watch3
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])

third_party/acados/aarch64

@@ -0,0 +1 @@
+larch64/

third_party/libyuv/aarch64

@@ -0,0 +1 @@
+larch64/