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openpilot v0.8.2 release

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Vehicle Researcher
2021-02-23 16:46:22 -08:00
parent 22a4193109
commit aed724beda
415 changed files with 14848 additions and 26656 deletions
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cereal/SConscript
+37 -16
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@@ -1,4 +1,4 @@
Import('env', 'envCython', 'arch', 'zmq')
Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
import shutil
@@ -6,30 +6,28 @@ cereal_dir = Dir('.')
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')
# TODO: remove src-prefix and cereal from command string. can we set working directory?
# Build cereal
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
schema_files,
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
if shutil.which('capnpc-java'):
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
schema_files,
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
cereal_dir = Dir('.')
services_h = env.Command(['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
# Build messaging
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([
'messaging/messaging.cc',
@@ -52,10 +50,33 @@ if arch == "aarch64":
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
Depends('messaging/bridge.cc', services_h)
# different target?
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
# Build Vision IPC
vipc_sources = [
'visionipc/ipc.cc',
'visionipc/visionipc_server.cc',
'visionipc/visionipc_client.cc',
'visionipc/visionbuf.cc',
]
if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
vipc_sources += ['visionipc/visionbuf_ion.cc']
else:
vipc_sources += ['visionipc/visionbuf_cl.cc']
vipc_objects = env.SharedObject(vipc_sources)
vipc = env.Library('visionipc', vipc_objects)
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
if arch == "Darwin":
del libs[libs.index('OpenCL')]
envCython['FRAMEWORKS'] += ['OpenCL']
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
if GetOption('test'):
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])