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38 lines
1.1 KiB
Python
38 lines
1.1 KiB
Python
Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations')
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loc_libs = [messaging, common, 'pthread', 'dl']
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# build ekf models
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rednose_gen_dir = 'models/generated'
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rednose_gen_deps = [
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"models/constants.py",
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]
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orbit_filter = env.RednoseCompileFilter(
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target='orbit',
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filter_gen_script='models/orbit_kf.py',
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output_dir=rednose_gen_dir,
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extra_gen_artifacts=['orbit_state_constants.h'],
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gen_script_deps=rednose_gen_deps,
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)
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car_ekf = env.RednoseCompileFilter(
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target='car',
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filter_gen_script='models/car_kf.py',
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output_dir=rednose_gen_dir,
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extra_gen_artifacts=[],
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gen_script_deps=rednose_gen_deps,
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)
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# iqlocd build
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iqlocd_sources = ["atlas_loc_core.cc", "models/orbit_kf.cc"]
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lenv = env.Clone()
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# ekf filter libraries need to be linked, even if no symbols are used
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if arch != "Darwin":
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lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
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lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
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lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
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iqlocd = lenv.Program("iqlocd", iqlocd_sources, LIBS=["orbit", "ekf_sym"] + loc_libs + transformations)
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lenv.Depends(iqlocd, rednose)
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lenv.Depends(iqlocd, orbit_filter)
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