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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1.2 KiB

import os
import sys
import fcntl
import hashlib
from cffi import FFI
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
if libraries is None:
libraries = []
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
try:
os.mkdir(tmpdir)
except OSError:
pass
fd = os.open(tmpdir, 0)
fcntl.flock(fd, fcntl.LOCK_EX)
try:
sys.path.append(tmpdir)
try:
mod = __import__(cache)
except Exception:
print("cache miss {0}".format(cache))
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
mod = __import__(cache)
finally:
os.close(fd)
return mod.ffi, mod.lib
def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
if libraries is None:
libraries = []
ffibuilder = FFI()
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
ffibuilder.cdef(c_header)
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
os.environ['CFLAGS'] = cflags
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
def wrap_compiled(name, directory):
sys.path.append(directory)
mod = __import__(name)
return mod.ffi, mod.lib