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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1.8 KiB

import os
import platform
import subprocess
import sysconfig
import numpy as np
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
common = ''
cpppath = [
f"#/",
'#msgq/',
'/usr/lib/include',
'/opt/homebrew/include',
sysconfig.get_paths()['include'],
]
libpath = [
'/opt/homebrew/lib',
]
AddOption('--minimal',
action='store_false',
dest='extras',
default=True,
help='the minimum build. no tests, tools, etc.')
AddOption('--asan',
action='store_true',
help='turn on ASAN')
AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
ccflags = []
ldflags = []
if GetOption('ubsan'):
flags = [
"-fsanitize=undefined",
"-fno-sanitize-recover=undefined",
]
ccflags += flags
ldflags += flags
elif GetOption('asan'):
ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
ldflags += ["-fsanitize=address"]
env = Environment(
ENV=os.environ,
CC='clang',
CXX='clang++',
CCFLAGS=[
"-g",
"-fPIC",
"-O2",
"-Wunused",
"-Werror",
"-Wshadow",
"-Wno-vla-cxx-extension",
"-Wno-unknown-warning-option",
] + ccflags,
LDFLAGS=ldflags,
LINKFLAGS=ldflags,
CFLAGS="-std=gnu11",
CXXFLAGS="-std=c++1z",
CPPPATH=cpppath,
LIBPATH=libpath,
CYTHONCFILESUFFIX=".cpp",
tools=["default", "cython"]
)
Export('env', 'arch', 'common')
envCython = env.Clone(LIBS=[])
envCython["CPPPATH"] += [np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["CCFLAGS"].remove('-Werror')
if arch == "Darwin":
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
Export('envCython')
SConscript(['SConscript'])