mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-05 20:13:47 +08:00
Adeeb Shihadeh
64 lines
2.4 KiB
Python
64 lines
2.4 KiB
Python
import sys
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import sysconfig
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from pathlib import Path
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import nanobind
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Import('env', 'arch', 'common')
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envNanobind = env.Clone(LIBS=[])
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nb_dir = Path(nanobind.source_dir()).parent
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envNanobind.Append(CPPPATH=[sysconfig.get_paths()['include'], nanobind.include_dir(), str(nb_dir / "ext/robin_map/include")],
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CCFLAGS=["-fvisibility=hidden", "-fno-strict-aliasing"])
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if arch == "Darwin":
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envNanobind.Append(LINKFLAGS=["-bundle", "-undefined", "dynamic_lookup"])
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else:
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# Python symbols resolve at import time.
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envNanobind["LINKFLAGS"] = [f for f in env["LINKFLAGS"] if f != "-Wl,--no-undefined"] + ["-pthread", "-shared"]
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# Third-party runtime sources do not follow our shadowing warning policy.
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envNanobindRuntime = envNanobind.Clone()
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envNanobindRuntime['CCFLAGS'] = [flag for flag in envNanobindRuntime['CCFLAGS'] if not flag.startswith('-Wshadow')]
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nanobind_lib = envNanobindRuntime.SharedObject('msgq/nb_combined.os', str(nb_dir / "src/nb_combined.cpp"))
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visionipc_dir = Dir('msgq/visionipc')
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python_suffix = ".so"
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# Build msgq
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msgq_objects = env.SharedObject([
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'msgq/ipc.cc',
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'msgq/event.cc',
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'msgq/msgq.cc',
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])
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msgq = env.Library('msgq', msgq_objects)
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msgq_python = envNanobind.Program(f'msgq/_ipc{python_suffix}', ['msgq/ipc_py.cc', nanobind_lib], LIBS=envNanobind["LIBS"]+[msgq]+common)
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# Build Vision IPC
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vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc']
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if File('/dev/ion').exists():
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vipc_files += ['visionbuf_ion.cc']
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else:
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vipc_files += ['visionbuf.cc']
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vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
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vipc_objects = env.SharedObject(vipc_sources)
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visionipc = env.Library('visionipc', vipc_objects)
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vipc_libs = envNanobind["LIBS"] + [visionipc, msgq] + common
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visionipc_python = envNanobind.Program(f'{visionipc_dir.abspath}/_visionipc{python_suffix}', [f'{visionipc_dir.abspath}/visionipc_py.cc', nanobind_lib],
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LIBS=vipc_libs)
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# ASan modules require a preloaded runtime before Python can import them.
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if "-fsanitize=address" not in env["LINKFLAGS"]:
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root = Dir('.').abspath
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for module in ('msgq._ipc', 'msgq.visionipc._visionipc'):
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env.Command(module.replace('.', '/') + '.pyi', [msgq_python, visionipc_python],
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f'"{sys.executable}" -m nanobind.stubgen -i "{root}" -m {module} -o "$TARGET"')
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if GetOption('extras'):
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env.Program('msgq/test_runner', ['msgq/msgq_tests.cc'], LIBS=[msgq]+common)
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Export('visionipc', 'msgq', 'msgq_python')
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