openpilot v0.7.5 release

SConstruct

@@ -14,39 +14,55 @@ AddOption('--asan',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"
 
-if arch == "aarch64":
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
+if arch == "aarch64" or arch == "larch64":
   lenv = {
     "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
     "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
   }
 
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
   cpppath = [
     "#phonelibs/opencl/include",
   ]
+
   libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
     "/usr/lib",
     "/data/data/com.termux/files/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
     "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
   ]
 
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
+  else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
+    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    rpath = ["/system/vendor/lib64"]
 
-  rpath = ["/system/vendor/lib64"]
 else:
   lenv = {
     "PATH": "#external/bin:" + os.environ['PATH'],
   }
   cpppath = [
     "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
     "#phonelibs/zmq/x64/include",
     "#external/tensorflow/include",
   ]
@@ -54,7 +70,6 @@ else:
   if arch == "Darwin":
     libpath = [
       "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
       "#phonelibs/libyuv/mac/lib",
       "#cereal",
       "#selfdrive/common",
@@ -64,7 +79,6 @@ else:
   else:
     libpath = [
       "#phonelibs/capnp-cpp/x64/lib",
-      "#phonelibs/capnp-c/x64/lib",
       "#phonelibs/snpe/x86_64-linux-clang",
       "#phonelibs/zmq/x64/lib",
       "#phonelibs/libyuv/x64/lib",
@@ -113,11 +127,10 @@ env = Environment(
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
     "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
     "#phonelibs/json11",
     "#phonelibs/eigen",
     "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
+    #"#phonelibs/opencv/include", # use opencv4 instead
     "#phonelibs/libgralloc/include",
     "#phonelibs/android_frameworks_native/include",
     "#phonelibs/android_hardware_libhardware/include",
@@ -175,10 +188,12 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-#zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -196,7 +211,7 @@ Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
 if SHARED:
   common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
 else:
-  common = [_common, 'json']
+  common = [_common, 'json11']
   visionipc = _visionipc
   gpucommon = [_gpucommon] + _gpu_libs
 
@@ -215,6 +230,7 @@ if arch != "Darwin":
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
@@ -229,5 +245,4 @@ if arch == "aarch64":
 
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/kalman/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
+SConscript(['tools/lib/index_log/SConscript'])