You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
300 lines
7.4 KiB
300 lines
7.4 KiB
import os
|
|
import shutil
|
|
import subprocess
|
|
import sys
|
|
import sysconfig
|
|
import platform
|
|
import numpy as np
|
|
|
|
TICI = os.path.isfile('/TICI')
|
|
Decider('MD5-timestamp')
|
|
|
|
AddOption('--test',
|
|
action='store_true',
|
|
help='build test files')
|
|
|
|
AddOption('--asan',
|
|
action='store_true',
|
|
help='turn on ASAN')
|
|
|
|
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
|
if platform.system() == "Darwin":
|
|
arch = "Darwin"
|
|
|
|
if arch == "aarch64" and TICI:
|
|
arch = "larch64"
|
|
|
|
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
|
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
|
|
|
if arch == "aarch64" or arch == "larch64":
|
|
lenv = {
|
|
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
|
"PATH": os.environ['PATH'],
|
|
}
|
|
|
|
if arch == "aarch64":
|
|
# android
|
|
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
|
|
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
|
|
|
cpppath = [
|
|
"#phonelibs/opencl/include",
|
|
]
|
|
|
|
libpath = [
|
|
"/usr/lib",
|
|
"/system/vendor/lib64",
|
|
"/system/comma/usr/lib",
|
|
"#phonelibs/nanovg",
|
|
]
|
|
|
|
if arch == "larch64":
|
|
libpath += [
|
|
"#phonelibs/snpe/larch64",
|
|
"#phonelibs/libyuv/larch64/lib",
|
|
"/usr/lib/aarch64-linux-gnu"
|
|
]
|
|
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
|
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
|
rpath = ["/usr/local/lib"]
|
|
else:
|
|
libpath += [
|
|
"#phonelibs/snpe/aarch64",
|
|
"#phonelibs/libyuv/lib",
|
|
"/system/vendor/lib64"
|
|
]
|
|
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
|
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
|
rpath = []
|
|
|
|
if QCOM_REPLAY:
|
|
cflags += ["-DQCOM_REPLAY"]
|
|
cxxflags += ["-DQCOM_REPLAY"]
|
|
|
|
else:
|
|
cflags = []
|
|
cxxflags = []
|
|
|
|
lenv = {
|
|
"PATH": "#external/bin:" + os.environ['PATH'],
|
|
}
|
|
cpppath = [
|
|
"#external/tensorflow/include",
|
|
]
|
|
|
|
if arch == "Darwin":
|
|
libpath = [
|
|
"#phonelibs/libyuv/mac/lib",
|
|
"#cereal",
|
|
"#selfdrive/common",
|
|
"/usr/local/lib",
|
|
"/usr/local/opt/openssl/lib",
|
|
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
|
]
|
|
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
|
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
|
cpppath += ["/usr/local/opt/openssl/include"]
|
|
else:
|
|
libpath = [
|
|
"#phonelibs/snpe/x86_64-linux-clang",
|
|
"#phonelibs/libyuv/x64/lib",
|
|
"#external/tensorflow/lib",
|
|
"#cereal",
|
|
"#selfdrive/common",
|
|
"/usr/lib",
|
|
"/usr/local/lib",
|
|
]
|
|
|
|
rpath = [
|
|
"phonelibs/snpe/x86_64-linux-clang",
|
|
"external/tensorflow/lib",
|
|
"cereal",
|
|
"selfdrive/common"
|
|
]
|
|
|
|
# allows shared libraries to work globally
|
|
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
|
|
|
if GetOption('asan'):
|
|
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
|
ldflags_asan = ["-fsanitize=address"]
|
|
else:
|
|
ccflags_asan = []
|
|
ldflags_asan = []
|
|
|
|
# change pythonpath to this
|
|
lenv["PYTHONPATH"] = Dir("#").path
|
|
|
|
env = Environment(
|
|
ENV=lenv,
|
|
CCFLAGS=[
|
|
"-g",
|
|
"-fPIC",
|
|
"-O2",
|
|
"-Wunused",
|
|
"-Werror",
|
|
"-Wno-unknown-warning-option",
|
|
"-Wno-deprecated-register",
|
|
"-Wno-register",
|
|
"-Wno-inconsistent-missing-override",
|
|
"-Wno-c99-designator",
|
|
"-Wno-reorder-init-list",
|
|
] + cflags + ccflags_asan,
|
|
|
|
CPPPATH=cpppath + [
|
|
"#",
|
|
"#selfdrive",
|
|
"#phonelibs/bzip2",
|
|
"#phonelibs/libyuv/include",
|
|
"#phonelibs/openmax/include",
|
|
"#phonelibs/json11",
|
|
"#phonelibs/curl/include",
|
|
"#phonelibs/libgralloc/include",
|
|
"#phonelibs/android_frameworks_native/include",
|
|
"#phonelibs/android_hardware_libhardware/include",
|
|
"#phonelibs/android_system_core/include",
|
|
"#phonelibs/linux/include",
|
|
"#phonelibs/snpe/include",
|
|
"#phonelibs/nanovg",
|
|
"#selfdrive/boardd",
|
|
"#selfdrive/common",
|
|
"#selfdrive/camerad",
|
|
"#selfdrive/camerad/include",
|
|
"#selfdrive/loggerd/include",
|
|
"#selfdrive/modeld",
|
|
"#selfdrive/sensord",
|
|
"#selfdrive/ui",
|
|
"#cereal/messaging",
|
|
"#cereal",
|
|
"#opendbc/can",
|
|
],
|
|
|
|
CC='clang',
|
|
CXX='clang++',
|
|
LINKFLAGS=ldflags_asan,
|
|
|
|
RPATH=rpath,
|
|
|
|
CFLAGS=["-std=gnu11"] + cflags,
|
|
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
|
LIBPATH=libpath + [
|
|
"#cereal",
|
|
"#phonelibs",
|
|
"#opendbc/can",
|
|
"#selfdrive/boardd",
|
|
"#selfdrive/common",
|
|
],
|
|
CYTHONCFILESUFFIX=".cpp",
|
|
COMPILATIONDB_USE_ABSPATH=True,
|
|
tools=["default", "cython", "compilation_db"],
|
|
)
|
|
|
|
if GetOption('test'):
|
|
env.CompilationDatabase('compile_commands.json')
|
|
|
|
if os.environ.get('SCONS_CACHE'):
|
|
cache_dir = '/tmp/scons_cache'
|
|
if TICI:
|
|
cache_dir = '/data/scons_cache'
|
|
|
|
if QCOM_REPLAY:
|
|
cache_dir = '/tmp/scons_cache_qcom_replay'
|
|
|
|
CacheDir(cache_dir)
|
|
|
|
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)
|
|
|
|
SHARED = False
|
|
|
|
def abspath(x):
|
|
if arch == 'aarch64':
|
|
pth = os.path.join("/data/pythonpath", x[0].path)
|
|
env.Depends(pth, x)
|
|
return File(pth)
|
|
else:
|
|
# rpath works elsewhere
|
|
return x[0].path.rsplit("/", 1)[1][:-3]
|
|
|
|
# Cython build enviroment
|
|
py_include = sysconfig.get_paths()['include']
|
|
envCython = env.Clone()
|
|
envCython["CPPPATH"] += [py_include, np.get_include()]
|
|
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
|
|
|
envCython["LIBS"] = []
|
|
if arch == "Darwin":
|
|
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
|
elif arch == "aarch64":
|
|
envCython["LINKFLAGS"] = ["-shared"]
|
|
envCython["LIBS"] = [os.path.basename(py_include)]
|
|
else:
|
|
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
|
|
|
Export('envCython')
|
|
|
|
# still needed for apks
|
|
zmq = 'zmq'
|
|
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
|
|
|
# cereal and messaging are shared with the system
|
|
SConscript(['cereal/SConscript'])
|
|
if SHARED:
|
|
cereal = abspath([File('cereal/libcereal_shared.so')])
|
|
messaging = abspath([File('cereal/libmessaging_shared.so')])
|
|
else:
|
|
cereal = [File('#cereal/libcereal.a')]
|
|
messaging = [File('#cereal/libmessaging.a')]
|
|
Export('cereal', 'messaging')
|
|
|
|
SConscript(['selfdrive/common/SConscript'])
|
|
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
|
|
|
if SHARED:
|
|
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
|
else:
|
|
common = [_common, 'json11']
|
|
visionipc = _visionipc
|
|
gpucommon = [_gpucommon] + _gpu_libs
|
|
|
|
Export('common', 'visionipc', 'gpucommon')
|
|
|
|
SConscript(['opendbc/can/SConscript'])
|
|
|
|
SConscript(['common/SConscript'])
|
|
SConscript(['common/kalman/SConscript'])
|
|
SConscript(['common/transformations/SConscript'])
|
|
SConscript(['phonelibs/SConscript'])
|
|
|
|
SConscript(['selfdrive/camerad/SConscript'])
|
|
SConscript(['selfdrive/modeld/SConscript'])
|
|
|
|
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
|
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
|
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
|
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
|
|
|
SConscript(['selfdrive/boardd/SConscript'])
|
|
SConscript(['selfdrive/proclogd/SConscript'])
|
|
SConscript(['selfdrive/clocksd/SConscript'])
|
|
|
|
SConscript(['selfdrive/loggerd/SConscript'])
|
|
|
|
SConscript(['selfdrive/locationd/SConscript'])
|
|
SConscript(['selfdrive/locationd/models/SConscript'])
|
|
SConscript(['selfdrive/sensord/SConscript'])
|
|
SConscript(['selfdrive/ui/SConscript'])
|
|
|
|
if arch != "Darwin":
|
|
SConscript(['selfdrive/logcatd/SConscript'])
|
|
|
|
if arch == "x86_64":
|
|
SConscript(['tools/lib/index_log/SConscript'])
|
|
|