mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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IQ.Lvbs CI [bot]
122 lines
4.5 KiB
Python
122 lines
4.5 KiB
Python
import os
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import subprocess
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import sys
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venv_site_packages = os.path.join(Dir("#").abspath, ".venv", "lib", "python3.12", "site-packages")
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if os.path.isdir(venv_site_packages) and venv_site_packages not in sys.path:
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sys.path.insert(0, venv_site_packages)
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import imgui
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import libusb
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# IQ.Pilot patch: iqpilot's iqdbc fork lacks the upstream `get_generated_dbcs()`
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# helper. Use the equivalent `create_all(out_dir)` which writes *_generated.dbc
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# files directly to disk.
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from iqdbc.dbc.generator.generator import create_all as _iqdbc_create_all
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from iqdbc.car import Bus
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from iqdbc.car.fingerprints import MIGRATION
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from iqdbc.car.values import PLATFORMS
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from openpilot.common.basedir import BASEDIR
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Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
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jot_env = env.Clone()
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# imgui.MESA_DIR only exists on the larch64 wheel; skip missing paths to avoid an ld search-path warning
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jot_env["LIBPATH"] += [p for p in [imgui.MESA_DIR, libusb.LIB_DIR] if os.path.isdir(p)]
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jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
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jot_env["CXXFLAGS"] += [
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"-DGLFW_INCLUDE_NONE",
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'-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
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]
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def materialize_generated_dbcs(target, source, env):
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out_dir = os.path.dirname(str(target[0]))
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os.makedirs(out_dir, exist_ok=True)
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# IQ.Pilot patch: iqdbc's create_all writes *_generated.dbc files directly
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# to out_dir (and clears any stale ones first), matching what upstream's
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# get_generated_dbcs()-based loop produced.
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_iqdbc_create_all(out_dir)
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with open(str(target[0]), "w") as f:
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f.write("ok\n")
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return None
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def write_car_fingerprint_to_dbc_header(target, source, env):
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pairs = {}
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for name, platform in sorted(PLATFORMS.items()):
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dbc = platform.config.dbc_dict.get(Bus.pt, "")
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if not dbc and name.startswith("TESLA_"):
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dbc = platform.config.dbc_dict.get(Bus.party, "")
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if not dbc and name == "COMMA_BODY":
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dbc = "comma_body"
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if dbc and name != "MOCK":
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pairs[name] = dbc
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for fingerprint, car in sorted(MIGRATION.items()):
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dbc = pairs.get(str(car), "")
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if dbc:
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pairs[fingerprint] = dbc
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lines = [
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"#pragma once",
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"",
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"#include <string_view>",
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"#include <utility>",
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"",
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"inline constexpr std::pair<std::string_view, std::string_view> kCarFingerprintToDbc[] = {",
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]
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lines.extend(f' {{"{fingerprint}", "{dbc}"}},' for fingerprint, dbc in sorted(pairs.items()))
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lines.extend([
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"};",
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"",
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"inline std::string_view dbc_for_car_fingerprint(std::string_view fingerprint) {",
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" for (const auto &[car_fingerprint, dbc] : kCarFingerprintToDbc) {",
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" if (car_fingerprint == fingerprint) return dbc;",
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" }",
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" return {};",
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"}",
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"",
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])
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with open(str(target[0]), "w") as f:
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f.write("\n".join(lines))
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return None
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def generate_event_extractors(target, source, env):
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subprocess.check_call([
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"python3",
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"tools/jotpluggler/generate_event_extractors.py",
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os.path.realpath(BASEDIR),
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str(target[0]),
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])
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return None
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generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], jot_env.PrettyAction(materialize_generated_dbcs, 'GEN'))
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car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], jot_env.PrettyAction(write_car_fingerprint_to_dbc_header, 'GEN'))
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event_extractors = jot_env.Command("generated_event_extractors.h", [
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"generate_event_extractors.py",
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jot_env.Glob("#cereal/*.capnp"),
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jot_env.Glob("#cereal/include/*.capnp"),
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],
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jot_env.PrettyAction(generate_event_extractors, 'GEN'),
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)
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libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
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# IQ.Pilot patch: iqpilot's replay_lib resolves URL/api work via libcurl
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# (vs upstream's Python downloader), so jotpluggler needs to link curl too.
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# iqpilot's api.cc additionally uses OpenSSL primitives (PEM/RSA/SHA256) for
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# JWT signing, and visionipc references OpenCL — both must also be linked.
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"avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "curl", "ssl", "crypto", "m", "pthread", "usb-1.0"]
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if arch == "Darwin":
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jot_env["FRAMEWORKS"] = ["OpenGL", "OpenCL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
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else:
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libs += ["GL", "OpenCL", "dl", "va", "va-drm", "drm"]
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program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
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jot_env.Depends(program, generated_dbc_stamp)
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jot_env.Depends(program, car_fingerprint_to_dbc)
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jot_env.Depends(program, event_extractors)
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