2020-01-17 10:22:00 -08:00
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import os
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import subprocess
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import sys
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2020-12-14 00:46:07 -08:00
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import sysconfig
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2026-02-17 15:02:06 -08:00
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import platform
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2025-09-25 20:55:14 -07:00
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import shlex
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2026-03-08 20:54:31 -07:00
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import importlib
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2020-11-11 21:14:51 +01:00
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import numpy as np
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2020-01-17 10:22:00 -08:00
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2023-04-06 20:42:19 -07:00
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import SCons.Errors
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2026-03-13 20:12:13 -07:00
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from SCons.Defaults import _stripixes
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2023-04-06 20:42:19 -07:00
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2023-04-22 15:24:45 -07:00
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SCons.Warnings.warningAsException(True)
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2020-10-12 18:46:37 +02:00
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Decider('MD5-timestamp')
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2020-09-24 19:24:14 +02:00
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2025-08-02 16:50:45 -07:00
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SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
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2024-01-03 11:16:54 -08:00
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2025-09-25 20:55:14 -07:00
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AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
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2026-02-27 08:05:06 -08:00
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AddOption('--verbose', action='store_true', default=False, help='show full build commands')
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2023-08-24 14:58:30 -07:00
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AddOption('--minimal',
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action='store_false',
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dest='extras',
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2025-11-05 16:34:19 -08:00
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default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
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2023-08-24 14:58:30 -07:00
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help='the minimum build to run openpilot. no tests, tools, etc.')
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2022-08-25 16:22:52 -07:00
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2026-02-17 15:02:06 -08:00
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# Detect platform
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arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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if platform.system() == "Darwin":
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arch = "Darwin"
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elif arch == "aarch64" and os.path.isfile('/TICI'):
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arch = "larch64"
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assert arch in [
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"larch64", # linux tici arm64
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"aarch64", # linux pc arm64
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"x86_64", # linux pc x64
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"Darwin", # macOS arm64 (x86 not supported)
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]
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2023-11-17 22:53:16 +01:00
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2026-03-08 20:54:31 -07:00
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pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
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pkgs = [importlib.import_module(name) for name in pkg_names]
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2026-02-22 19:15:11 -08:00
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2026-03-13 20:12:13 -07:00
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# ***** enforce a whitelist of system libraries *****
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# this prevents silently relying on a 3rd party package,
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# e.g. apt-installed libusb. all libraries should either
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# be distributed with all Linux distros and macOS, or
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# vendored in commaai/dependencies.
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allowed_system_libs = {
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"EGL", "GLESv2", "GL",
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"Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
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"dl", "drm", "gbm", "m", "pthread",
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2026-03-13 20:12:13 -07:00
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}
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def _resolve_lib(env, name):
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for d in env.Flatten(env.get('LIBPATH', [])):
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p = Dir(str(d)).abspath
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for ext in ('.a', '.so', '.dylib'):
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f = File(os.path.join(p, f'lib{name}{ext}'))
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if f.exists() or f.has_builder():
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return name
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if name in allowed_system_libs:
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return name
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raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
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def _libflags(target, source, env, for_signature):
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libs = []
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lp = env.subst('$LIBLITERALPREFIX')
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for lib in env.Flatten(env.get('LIBS', [])):
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if isinstance(lib, str):
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if os.sep in lib or lib.startswith('#'):
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libs.append(File(lib))
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elif lib.startswith('-') or (lp and lib.startswith(lp)):
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libs.append(lib)
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else:
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libs.append(_resolve_lib(env, lib))
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else:
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libs.append(lib)
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return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
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env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
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2020-01-17 10:22:00 -08:00
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env = Environment(
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ENV={
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"PATH": os.environ['PATH'],
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"PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
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"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
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"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
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"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
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},
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2020-01-17 10:22:00 -08:00
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CCFLAGS=[
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"-g",
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"-fPIC",
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"-O2",
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2020-07-09 09:25:32 -07:00
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"-Wunused",
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2020-05-26 13:27:01 -07:00
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"-Werror",
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2026-02-23 16:34:42 -08:00
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"-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
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2020-09-30 14:58:56 +02:00
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"-Wno-unknown-warning-option",
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2020-05-26 13:27:01 -07:00
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"-Wno-inconsistent-missing-override",
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2020-09-30 14:58:56 +02:00
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"-Wno-c99-designator",
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"-Wno-reorder-init-list",
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2024-04-28 16:24:04 -07:00
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"-Wno-vla-cxx-extension",
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2025-09-25 20:55:14 -07:00
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],
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CFLAGS=["-std=gnu11"],
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CXXFLAGS=["-std=c++1z"],
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CPPPATH=[
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2020-01-17 10:22:00 -08:00
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"#",
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"#msgq",
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"#third_party",
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"#third_party/json11",
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"#third_party/linux/include",
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2021-10-07 16:32:44 -07:00
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"#third_party/acados/include",
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"#third_party/acados/include/blasfeo/include",
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"#third_party/acados/include/hpipm/include",
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"#third_party/catch2/include",
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[x.INCLUDE_DIR for x in pkgs],
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2020-01-17 10:22:00 -08:00
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],
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2025-09-25 20:55:14 -07:00
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LIBPATH=[
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"#common",
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2024-06-10 13:18:47 -07:00
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"#msgq_repo",
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2021-10-07 16:32:44 -07:00
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"#third_party",
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2024-06-04 19:16:55 -07:00
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"#selfdrive/pandad",
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2023-11-22 13:25:29 -08:00
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"#rednose/helpers",
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f"#third_party/acados/{arch}/lib",
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2026-02-22 19:15:11 -08:00
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[x.LIB_DIR for x in pkgs],
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2020-11-11 21:14:51 +01:00
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],
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RPATH=[],
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2020-11-11 21:14:51 +01:00
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CYTHONCFILESUFFIX=".cpp",
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2020-12-14 00:46:07 -08:00
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COMPILATIONDB_USE_ABSPATH=True,
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REDNOSE_ROOT="#",
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tools=["default", "cython", "compilation_db", "rednose_filter"],
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2024-07-30 13:11:05 -07:00
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toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
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2020-01-17 10:22:00 -08:00
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)
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2026-03-13 20:26:32 -07:00
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if arch != "larch64":
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env['_LIBFLAGS'] = _libflags
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2020-11-16 21:33:33 -08:00
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2025-09-25 20:55:14 -07:00
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# Arch-specific flags and paths
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if arch == "larch64":
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2026-02-23 16:34:42 -08:00
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env["CC"] = "clang"
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env["CXX"] = "clang++"
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env.Append(LIBPATH=[
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"/usr/lib/aarch64-linux-gnu",
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])
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arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
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env.Append(CCFLAGS=arch_flags)
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env.Append(CXXFLAGS=arch_flags)
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elif arch == "Darwin":
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env.Append(LIBPATH=[
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"/System/Library/Frameworks/OpenGL.framework/Libraries",
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])
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env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
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env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
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2020-12-14 00:46:07 -08:00
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2025-09-25 20:55:14 -07:00
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_extra_cc = shlex.split(GetOption('ccflags') or '')
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if _extra_cc:
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env.Append(CCFLAGS=_extra_cc)
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2020-01-17 10:22:00 -08:00
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2025-09-25 20:55:14 -07:00
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# no --as-needed on mac linker
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if arch != "Darwin":
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env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
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2026-02-27 08:05:06 -08:00
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# Shorter build output: show brief descriptions instead of full commands.
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# Full command lines are still printed on failure by scons.
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if not GetOption('verbose'):
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for action, short in (
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("CC", "CC"),
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("CXX", "CXX"),
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("LINK", "LINK"),
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("SHCC", "CC"),
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("SHCXX", "CXX"),
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("SHLINK", "LINK"),
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("AR", "AR"),
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("RANLIB", "RANLIB"),
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("AS", "AS"),
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):
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env[f"{action}COMSTR"] = f" [{short}] $TARGET"
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2025-09-25 20:55:14 -07:00
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# progress output
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node_interval = 5
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node_count = 0
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def progress_function(node):
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global node_count
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node_count += node_interval
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sys.stderr.write("progress: %d\n" % node_count)
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if os.environ.get('SCONS_PROGRESS'):
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Progress(progress_function, interval=node_interval)
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2025-09-25 20:55:14 -07:00
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# ********** Cython build environment **********
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2020-11-11 21:14:51 +01:00
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envCython = env.Clone()
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2026-03-10 10:58:21 -07:00
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envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
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2026-02-23 16:34:42 -08:00
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envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
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2023-07-20 21:56:57 -07:00
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envCython["CCFLAGS"].remove("-Werror")
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2020-11-11 21:14:51 +01:00
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2020-12-14 00:46:07 -08:00
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envCython["LIBS"] = []
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2020-11-11 21:14:51 +01:00
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if arch == "Darwin":
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envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
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2020-11-11 21:14:51 +01:00
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else:
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envCython["LINKFLAGS"] = ["-pthread", "-shared"]
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2020-11-11 21:14:51 +01:00
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2024-07-30 13:11:05 -07:00
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np_version = SCons.Script.Value(np.__version__)
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Export('envCython', 'np_version')
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2020-11-11 21:14:51 +01:00
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2025-10-22 22:18:07 -07:00
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Export('env', 'arch')
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2025-09-25 20:55:14 -07:00
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# Setup cache dir
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cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
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CacheDir(cache_dir)
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Clean(["."], cache_dir)
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# ********** start building stuff **********
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2020-01-17 10:22:00 -08:00
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2023-09-13 14:39:06 -07:00
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# Build common module
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2022-05-18 14:11:57 -07:00
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SConscript(['common/SConscript'])
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Import('_common')
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2024-08-19 15:25:05 -07:00
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common = [_common, 'json11', 'zmq']
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2025-09-25 20:55:14 -07:00
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Export('common')
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2021-07-29 13:13:47 +02:00
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2024-06-09 17:44:34 -07:00
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# Build messaging (cereal + msgq + socketmaster + their dependencies)
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2024-08-24 01:46:37 +08:00
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# Enable swaglog include in submodules
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env_swaglog = env.Clone()
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env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
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SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
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2020-01-17 10:22:00 -08:00
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SConscript(['cereal/SConscript'])
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2024-08-24 01:46:37 +08:00
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2024-06-09 17:44:34 -07:00
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Import('socketmaster', 'msgq')
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2025-01-31 02:30:54 +08:00
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messaging = [socketmaster, msgq, 'capnp', 'kj',]
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2024-06-09 17:44:34 -07:00
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Export('messaging')
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2023-09-13 14:39:06 -07:00
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# Build other submodules
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2024-08-24 01:46:37 +08:00
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SConscript(['panda/SConscript'])
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2021-04-08 13:09:11 +02:00
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2023-11-22 13:25:29 -08:00
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# Build rednose library
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2021-04-08 13:09:11 +02:00
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SConscript(['rednose/SConscript'])
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2020-12-20 19:39:59 -08:00
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2022-06-02 17:02:25 -07:00
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# Build system services
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2022-06-06 13:27:45 -07:00
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SConscript([
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2023-05-12 13:01:00 -07:00
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'system/loggerd/SConscript',
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2022-06-06 13:27:45 -07:00
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])
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2022-06-02 17:02:25 -07:00
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2024-04-17 16:33:13 -07:00
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if arch == "larch64":
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SConscript(['system/camerad/SConscript'])
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2020-12-20 19:39:59 -08:00
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# Build openpilot
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2021-10-07 16:32:44 -07:00
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SConscript(['third_party/SConscript'])
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2020-12-20 19:39:59 -08:00
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2026-03-13 19:20:33 -07:00
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# Build selfdrive
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SConscript([
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'selfdrive/pandad/SConscript',
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'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
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'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
|
|
|
|
|
'selfdrive/locationd/SConscript',
|
|
|
|
|
'selfdrive/modeld/SConscript',
|
|
|
|
|
'selfdrive/ui/SConscript',
|
|
|
|
|
])
|
2020-05-14 10:53:19 -07:00
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|
|
|
2026-03-21 16:49:57 -07:00
|
|
|
# Build tools
|
|
|
|
|
if arch != "larch64":
|
|
|
|
|
SConscript([
|
|
|
|
|
'tools/replay/SConscript',
|
|
|
|
|
'tools/cabana/SConscript',
|
2026-03-25 19:49:38 -07:00
|
|
|
'tools/jotpluggler/SConscript',
|
2026-03-21 16:49:57 -07:00
|
|
|
])
|
2025-09-25 20:55:14 -07:00
|
|
|
|
|
|
|
|
|
|
|
|
|
env.CompilationDatabase('compile_commands.json')
|
