mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-01 14:16:48 +08:00
Joost Wooning
c0ac9bb63c
* live_kf to c++
* first locationd code
* Running in process_replay
* locationd handle cam_odo and live_calib
* log event handlers
* working message receiving
* compiling message sending
* correctly sending some messages
* correct receiving and sending
* update ref_commit with some all_alive_and_valid being false, minor fixes
* fix std abs
* linking on device fix
* fix cpu usage test
* generate kf constants and defines
* fix replay test
* replay without acks, cleanup
* operate on bytearray messages
* cleanup
* send msg fix
* small sleep, less flaky test
* remove python locationd
* review feedback
* bump rednose
old-commit-hash: 3420707ad5
19 lines
872 B
Python
19 lines
872 B
Python
Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
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loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
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if GetOption('kaitai'):
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generated = Dir('generated').srcnode().abspath
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cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
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env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
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env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
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env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs)
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ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
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lenv = env.Clone()
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lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
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locationd = lenv.Program("locationd", ["locationd.cc", "models/live_kf.cc", ekf_sym_cc],
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LIBS=loc_libs + transformations)
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lenv.Depends(locationd, libkf)
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