scons: set warnings as error (#28004)

* navd: fix scons build warnings

* fix release

* sim fix

* fix docs

* build cabana

SConstruct

@@ -7,6 +7,8 @@ import numpy as np
 
 import SCons.Errors
 
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
@@ -438,7 +440,7 @@ SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
 
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana').exists()) and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   SConscript(['tools/cabana/SConscript'])
 

docs/docker/Dockerfile

@@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

release/files_common

@@ -396,9 +396,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
+selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py
-selfdrive/navd/navd.py
-selfdrive/navd/helpers.py
+selfdrive/navd/**
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc

selfdrive/navd/SConscript

@@ -1,21 +1,20 @@
 Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations')
 
-base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
-
+map_env = qt_env.Clone()
+libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
+        'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
-  base_libs.append('EGL')
+  libs.append('EGL')
 
 if arch in ['larch64', 'x86_64']:
   if arch == 'x86_64':
-    rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
-    qt_env["RPATH"] += rpath
+    rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath
+    map_env["RPATH"] += [rpath, ]
 
   style_path = File("style.json").abspath
-  qt_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
-  qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
-
-  nav_src = ["main.cc", "map_renderer.cc"]
-  qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
+  map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
 
-  qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])
+  map_env["RPATH"].append(Dir('.').abspath)
+  map_env["LIBPATH"].append(Dir('.').abspath)
+  maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
+  map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)

tools/sim/Dockerfile.sim

@@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot
 
 COPY SConstruct $HOME/openpilot/
 
+COPY ./body $HOME/openpilot/body
 COPY ./third_party $HOME/openpilot/third_party
 COPY ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose