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dragonpilot mod for 0.8.10-3

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This commit is contained in:
Rick Lan
2021-12-13 13:16:01 +08:00
parent 93e8dbb8b5
commit 73ce7bbfca
367 changed files with 49146 additions and 9278 deletions
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SConstruct
+34 -6
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@@ -7,6 +7,8 @@ import platform
import numpy as np
TICI = os.path.isfile('/TICI')
JETSON = os.path.isfile('/JETSON')
Decider('MD5-timestamp')
AddOption('--test',
@@ -61,6 +63,11 @@ if arch == "aarch64" and TICI:
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
USE_MIPI = os.getenv("USE_MIPI") is not None
# use larch64 for now
if JETSON:
arch = "larch64"
lenv = {
"PATH": os.environ['PATH'],
@@ -71,6 +78,10 @@ lenv = {
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
}
# set to jarch64
if JETSON:
arch = "jarch64"
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "aarch64" or arch == "larch64":
@@ -111,7 +122,8 @@ if arch == "aarch64" or arch == "larch64":
libpath += [
"#third_party/snpe/aarch64",
"#third_party/libyuv/lib",
"/system/vendor/lib64"
"/system/vendor/lib64",
"#third_party/mapbox-gl-native-qt/aarch64",
]
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
@@ -120,7 +132,21 @@ else:
cxxflags = []
cpppath = []
if arch == "Darwin":
if arch == "jarch64":
libpath = [
"#third_party/acados/larch64/lib",
"#third_party/libyuv/larch64/lib",
"/usr/lib/aarch64-linux-gnu",
"#selfdrive/common",
"/usr/lib",
"/usr/local/lib",
"/usr/local/pocl/lib",
"#third_party/mapbox-gl-native-qt/jarch64",
]
cflags = ["-DXNX", "-march=armv8.2-a"]
cxxflags = ["-DXNX", "-march=armv8.2-a"]
rpath += ["/usr/local/lib"]
elif arch == "Darwin":
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
libpath = [
f"#third_party/libyuv/{yuv_dir}/lib",
@@ -149,8 +175,9 @@ else:
"/usr/local/lib",
]
if arch != "jarch64":
rpath += [Dir("#third_party/snpe/x86_64-linux-clang").abspath]
rpath += [
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
Dir("#cereal").abspath,
Dir("#selfdrive/common").abspath
]
@@ -316,7 +343,7 @@ else:
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
qt_libs = [f"Qt5{m}" for m in qt_modules]
if arch == "larch64":
if arch == "larch64" or arch == "jarch64":
qt_libs += ["GLESv2", "wayland-client"]
elif arch != "Darwin":
qt_libs += ["GL"]
@@ -349,7 +376,7 @@ if GetOption("clazy"):
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM', 'USE_MIPI')
SConscript(['selfdrive/common/SConscript'])
Import('_common', '_gpucommon', '_gpu_libs')
@@ -423,7 +450,8 @@ SConscript(['selfdrive/clocksd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
if not os.path.isfile("/JETSON"):
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":