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build system cleanups (#36202)

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* it's all common

* never getting fixed

* it's just tici

* reorders

* qcom2 -> tici

* Revert "qcom2 -> tici"

This reverts commit f4d849b295.

* Reapply "qcom2 -> tici"

This reverts commit 58b193cb8d.

* is tici

* lil more

* Revert "is tici"

This reverts commit a169be18d3.

* Revert "Reapply "qcom2 -> tici""

This reverts commit 26f9c0e7d0.

* qcom2 -> __tici__

* lil more

* mv lenv

* clean that up

* lil more]

* fix

* lil more
pull/36192/merge
Adeeb Shihadeh 2 days ago committed by GitHub
parent 2c377e534f
commit cf5b743de6
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GPG Key ID: B5690EEEBB952194
11 changed files with 117 additions and 178 deletions
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  1. 242
      SConstruct
  2. 11
      common/SConscript
  3. 4
      selfdrive/modeld/SConscript
  4. 2
      selfdrive/ui/qt/qt_window.cc
  5. 2
      selfdrive/ui/qt/qt_window.h
  6. 12
      selfdrive/ui/qt/widgets/cameraview.cc
  7. 4
      selfdrive/ui/qt/widgets/cameraview.h
  8. 4
      system/camerad/SConscript
  9. 2
      system/camerad/cameras/camera_qcom2.cc
  10. 2
      system/hardware/hw.h
  11. 2
      system/loggerd/encoderd.cc

242
SConstruct
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@ -3,144 +3,52 @@ import subprocess
import sys
import sysconfig
import platform
import shlex
import numpy as np
import SCons.Errors
SCons.Warnings.warningAsException(True)
# pending upstream fix - https://github.com/SCons/scons/issues/4461
#SetOption('warn', 'all')
TICI = os.path.isfile('/TICI')
AGNOS = TICI
Decider('MD5-timestamp')
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
AddOption('--kaitai',
action='store_true',
help='Regenerate kaitai struct parsers')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--ccflags',
action='store',
type='string',
default='',
help='pass arbitrary flags over the command line')
AddOption('--mutation',
action='store_true',
help='generate mutation-ready code')
AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
AddOption('--asan', action='store_true', help='turn on ASAN')
AddOption('--ubsan', action='store_true', help='turn on UBSan')
AddOption('--mutation', action='store_true', help='generate mutation-ready code')
AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
AddOption('--minimal',
action='store_false',
dest='extras',
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
help='the minimum build to run openpilot. no tests, tools, etc.')
## 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()
# Detect platform
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()
elif arch == "aarch64" and AGNOS:
elif arch == "aarch64" and os.path.isfile('/TICI'):
arch = "larch64"
assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
assert arch in [
"larch64", # linux tici arm64
"aarch64", # linux pc arm64
"x86_64", # linux pc x64
"Darwin", # macOS arm64 (x86 not supported)
]
lenv = {
env = Environment(
ENV={
"PATH": os.environ['PATH'],
"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
}
rpath = []
if arch == "larch64":
cpppath = [
"#third_party/opencl/include",
]
libpath = [
"/usr/local/lib",
"/system/vendor/lib64",
f"#third_party/acados/{arch}/lib",
]
libpath += [
"#third_party/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu"
]
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
rpath += ["/usr/local/lib"]
else:
cflags = []
cxxflags = []
cpppath = []
rpath += []
# MacOS
if arch == "Darwin":
libpath = [
f"#third_party/libyuv/{arch}/lib",
f"#third_party/acados/{arch}/lib",
f"{brew_prefix}/lib",
f"{brew_prefix}/opt/openssl@3.0/lib",
f"{brew_prefix}/opt/llvm/lib/c++",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
cflags += ["-DGL_SILENCE_DEPRECATION"]
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
cpppath += [
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl@3.0/include",
]
# Linux
else:
libpath = [
f"#third_party/acados/{arch}/lib",
f"#third_party/libyuv/{arch}/lib",
"/usr/lib",
"/usr/local/lib",
]
if GetOption('asan'):
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags = ["-fsanitize=address"]
elif GetOption('ubsan'):
ccflags = ["-fsanitize=undefined"]
ldflags = ["-fsanitize=undefined"]
else:
ccflags = []
ldflags = []
# no --as-needed on mac linker
if arch != "Darwin":
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
ccflags_option = GetOption('ccflags')
if ccflags_option:
ccflags += ccflags_option.split(' ')
env = Environment(
ENV=lenv,
},
CC='clang',
CXX='clang++',
CCFLAGS=[
"-g",
"-fPIC",
@ -153,36 +61,31 @@ env = Environment(
"-Wno-c99-designator",
"-Wno-reorder-init-list",
"-Wno-vla-cxx-extension",
] + cflags + ccflags,
CPPPATH=cpppath + [
],
CFLAGS=["-std=gnu11"],
CXXFLAGS=["-std=c++1z"],
CPPPATH=[
"#",
"#msgq",
"#third_party",
"#third_party/json11",
"#third_party/linux/include",
"#third_party/acados/include",
"#third_party/acados/include/blasfeo/include",
"#third_party/acados/include/hpipm/include",
"#third_party/catch2/include",
"#third_party/libyuv/include",
"#third_party/json11",
"#third_party/linux/include",
"#third_party",
"#msgq",
],
CC='clang',
CXX='clang++',
LINKFLAGS=ldflags,
RPATH=rpath,
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
LIBPATH=[
"#common",
"#msgq_repo",
"#third_party",
"#selfdrive/pandad",
"#common",
"#rednose/helpers",
f"#third_party/libyuv/{arch}/lib",
f"#third_party/acados/{arch}/lib",
],
RPATH=[],
CYTHONCFILESUFFIX=".cpp",
COMPILATIONDB_USE_ABSPATH=True,
REDNOSE_ROOT="#",
@ -190,29 +93,63 @@ env = Environment(
toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
)
if arch == "Darwin":
# RPATH is not supported on macOS, instead use the linker flags
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
env["LINKFLAGS"] += darwin_rpath_link_flags
# Arch-specific flags and paths
if arch == "larch64":
env.Append(CPPPATH=["#third_party/opencl/include"])
env.Append(LIBPATH=[
"/usr/local/lib",
"/system/vendor/lib64",
"/usr/lib/aarch64-linux-gnu",
])
arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
env.Append(CCFLAGS=arch_flags)
env.Append(CXXFLAGS=arch_flags)
elif arch == "Darwin":
env.Append(LIBPATH=[
f"{brew_prefix}/lib",
f"{brew_prefix}/opt/openssl@3.0/lib",
f"{brew_prefix}/opt/llvm/lib/c++",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
])
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
env.Append(CPPPATH=[
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl@3.0/include",
])
else:
env.Append(LIBPATH=[
"/usr/lib",
"/usr/local/lib",
])
env.CompilationDatabase('compile_commands.json')
# Sanitizers and extra CCFLAGS from CLI
if GetOption('asan'):
env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
env.Append(LINKFLAGS=["-fsanitize=address"])
elif GetOption('ubsan'):
env.Append(CCFLAGS=["-fsanitize=undefined"])
env.Append(LINKFLAGS=["-fsanitize=undefined"])
# Setup cache dir
cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
CacheDir(cache_dir)
Clean(["."], cache_dir)
_extra_cc = shlex.split(GetOption('ccflags') or '')
if _extra_cc:
env.Append(CCFLAGS=_extra_cc)
# no --as-needed on mac linker
if arch != "Darwin":
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
# progress output
node_interval = 5
node_count = 0
def progress_function(node):
global node_count
node_count += node_interval
sys.stderr.write("progress: %d\n" % node_count)
if os.environ.get('SCONS_PROGRESS'):
Progress(progress_function, interval=node_interval)
# Cython build environment
# ********** Cython build environment **********
py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
envCython["CPPPATH"] += [py_include, np.get_include()]
@ -221,14 +158,14 @@ envCython["CCFLAGS"].remove("-Werror")
envCython["LIBS"] = []
if arch == "Darwin":
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
np_version = SCons.Script.Value(np.__version__)
Export('envCython', 'np_version')
# Qt build environment
# ********** Qt build environment **********
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
@ -278,16 +215,20 @@ qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui', ]
qt_env['LIBS'] = qt_libs
Export('env', 'qt_env', 'arch', 'real_arch')
Export('env', 'qt_env', 'arch')
# Setup cache dir
cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
CacheDir(cache_dir)
Clean(["."], cache_dir)
# ********** start building stuff **********
# Build common module
SConscript(['common/SConscript'])
Import('_common', '_gpucommon')
Import('_common')
common = [_common, 'json11', 'zmq']
gpucommon = [_gpucommon]
Export('common', 'gpucommon')
Export('common')
# Build messaging (cereal + msgq + socketmaster + their dependencies)
# Enable swaglog include in submodules
@ -327,3 +268,6 @@ if Dir('#tools/cabana/').exists() and GetOption('extras'):
SConscript(['tools/replay/SConscript'])
if arch != "larch64":
SConscript(['tools/cabana/SConscript'])
env.CompilationDatabase('compile_commands.json')

11
common/SConscript
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@ -5,17 +5,12 @@ common_libs = [
'swaglog.cc',
'util.cc',
'watchdog.cc',
'ratekeeper.cc'
]
_common = env.Library('common', common_libs, LIBS="json11")
files = [
'ratekeeper.cc',
'clutil.cc',
]
_gpucommon = env.Library('gpucommon', files)
Export('_common', '_gpucommon')
_common = env.Library('common', common_libs, LIBS="json11")
Export('_common')
if GetOption('extras'):
env.Program('tests/test_common',

4
selfdrive/modeld/SConscript
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@ -1,11 +1,11 @@
import os
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
frameworks = []
common_src = [

2
selfdrive/ui/qt/qt_window.cc
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@ -13,7 +13,7 @@ void setMainWindow(QWidget *w) {
}
w->show();
#ifdef QCOM2
#ifdef __TICI__
QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface();
wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);

2
selfdrive/ui/qt/qt_window.h
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@ -6,7 +6,7 @@
#include <QScreen>
#include <QWidget>
#ifdef QCOM2
#ifdef __TICI__
#include <qpa/qplatformnativeinterface.h>
#include <wayland-client-protocol.h>
#include <QPlatformSurfaceEvent>

12
selfdrive/ui/qt/widgets/cameraview.cc
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@ -27,7 +27,7 @@ const char frame_vertex_shader[] =
"}\n";
const char frame_fragment_shader[] =
#ifdef QCOM2
#ifdef __TICI__
"#version 300 es\n"
"#extension GL_OES_EGL_image_external_essl3 : enable\n"
"precision mediump float;\n"
@ -79,7 +79,7 @@ CameraWidget::~CameraWidget() {
glDeleteVertexArrays(1, &frame_vao);
glDeleteBuffers(1, &frame_vbo);
glDeleteBuffers(1, &frame_ibo);
#ifndef QCOM2
#ifndef __TICI__
glDeleteTextures(2, textures);
#endif
}
@ -137,7 +137,7 @@ void CameraWidget::initializeGL() {
glUseProgram(program->programId());
#ifdef QCOM2
#ifdef __TICI__
glUniform1i(program->uniformLocation("uTexture"), 0);
#else
glGenTextures(2, textures);
@ -165,7 +165,7 @@ void CameraWidget::stopVipcThread() {
vipc_thread = nullptr;
}
#ifdef QCOM2
#ifdef __TICI__
EGLDisplay egl_display = eglGetCurrentDisplay();
assert(egl_display != EGL_NO_DISPLAY);
for (auto &pair : egl_images) {
@ -226,7 +226,7 @@ void CameraWidget::paintGL() {
glUseProgram(program->programId());
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
#ifdef QCOM2
#ifdef __TICI__
// no frame copy
glActiveTexture(GL_TEXTURE0);
glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
@ -263,7 +263,7 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
stream_height = vipc_client->buffers[0].height;
stream_stride = vipc_client->buffers[0].stride;
#ifdef QCOM2
#ifdef __TICI__
EGLDisplay egl_display = eglGetCurrentDisplay();
assert(egl_display != EGL_NO_DISPLAY);
for (auto &pair : egl_images) {

4
selfdrive/ui/qt/widgets/cameraview.h
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@ -13,7 +13,7 @@
#include <QOpenGLWidget>
#include <QThread>
#ifdef QCOM2
#ifdef __TICI__
#define EGL_EGLEXT_PROTOTYPES
#define EGL_NO_X11
#define GL_TEXTURE_EXTERNAL_OES 0x8D65
@ -63,7 +63,7 @@ protected:
std::unique_ptr<QOpenGLShaderProgram> program;
QColor bg = QColor("#000000");
#ifdef QCOM2
#ifdef __TICI__
std::map<int, EGLImageKHR> egl_images;
#endif

4
system/camerad/SConscript
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@ -1,6 +1,6 @@
Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
Import('env', 'arch', 'messaging', 'common', 'visionipc')
libs = [common, 'OpenCL', messaging, visionipc, gpucommon]
libs = [common, 'OpenCL', messaging, visionipc]
if arch != "Darwin":
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',

2
system/camerad/cameras/camera_qcom2.cc
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@ -12,7 +12,7 @@
#include <string>
#include <vector>
#ifdef QCOM2
#ifdef __TICI__
#include "CL/cl_ext_qcom.h"
#else
#define CL_PRIORITY_HINT_HIGH_QCOM NULL

2
system/hardware/hw.h
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@ -5,7 +5,7 @@
#include "system/hardware/base.h"
#include "common/util.h"
#if QCOM2
#if __TICI__
#include "system/hardware/tici/hardware.h"
#define Hardware HardwareTici
#else

2
system/loggerd/encoderd.cc
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@ -3,7 +3,7 @@
#include "system/loggerd/loggerd.h"
#include "system/loggerd/encoder/jpeg_encoder.h"
#ifdef QCOM2
#ifdef __TICI__
#include "system/loggerd/encoder/v4l_encoder.h"
#define Encoder V4LEncoder
#else

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