Scons builder for cython extensions (#2485)

* complie boardd without python

* not good, but don't want to lose the file, because it works

* clean a bit

* update dbc

* should build on CI

* not good, but don't want to lose the file, because it works

* clean a bit

* should build on CI

* remove unneeded path

* reorder paths

* reduce diff

* and now it works?!

* ... should work in CI

* add kj, 30% chance to fix macos

* pydebug

* new way to find path

* fix :)

* tested

* sanity check

* repl. MacOS flags

* hope it works

* need more logs

* need more logs2

* test if it works

* should work on CI

* correct python file

* should not work

* cleanup

* real cleanup

* more removals

* 50% of file

* transformations

* fixed a hardcoded variable

* more logs

* simpl.

* kalman

* all donw if it passes tests

* cleanup

* reduce code by 20 lines if this works

* fix bugs

* cleanup

* SharedLibrary

* cleanup

* ...

* remove unused

* CI fix maybe?

* add more valid path

* more logs

* ...:

* fix webcam CI

* remove WError flag

* deprecated is not an error

* more Wno things

* reduce diff, add Wno to env

* don't import nonexistent stuff

* SharedLibrary v2

* less custom env

* renaming, remove SharedLibs

* pack libs in envCython

* experiment

* better docker caching

* whitespace

* more docker caching

* improvement

* improvements

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

common/transformations/SConscript

@@ -1,8 +1,3 @@
-Import('env', 'cython_dependencies')
+Import('envCython')
 
-d = Dir('.')
-
-env.Command(['transformations.so'],
-            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
-             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
-            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
+envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/setup.py

@@ -1,20 +0,0 @@
-import numpy
-
-from Cython.Build import cythonize
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-setup(
-  name='Cython transformations wrapper',
-  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-  ext_modules=cythonize(
-    Extension(
-      "transformations",
-      sources=["transformations.pyx"],
-      language="c++",
-      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
-      include_dirs=[numpy.get_include()],
-    ),
-    nthreads=4,
-  )
-)

common/transformations/transformations.pyx

@@ -1,18 +1,20 @@
-from transformations cimport Matrix3, Vector3, Quaternion
-from transformations cimport ECEF, NED, Geodetic
+# distutils: language = c++
+# cython: language_level = 3
+from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from common.transformations.transformations cimport ECEF, NED, Geodetic
 
-from transformations cimport euler2quat as euler2quat_c
-from transformations cimport quat2euler as quat2euler_c
-from transformations cimport quat2rot as quat2rot_c
-from transformations cimport rot2quat as rot2quat_c
-from transformations cimport euler2rot as euler2rot_c
-from transformations cimport rot2euler as rot2euler_c
-from transformations cimport rot_matrix as rot_matrix_c
-from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from transformations cimport geodetic2ecef as geodetic2ecef_c
-from transformations cimport ecef2geodetic as ecef2geodetic_c
-from transformations cimport LocalCoord_c
+from common.transformations.transformations cimport euler2quat as euler2quat_c
+from common.transformations.transformations cimport quat2euler as quat2euler_c
+from common.transformations.transformations cimport quat2rot as quat2rot_c
+from common.transformations.transformations cimport rot2quat as rot2quat_c
+from common.transformations.transformations cimport euler2rot as euler2rot_c
+from common.transformations.transformations cimport rot2euler as rot2euler_c
+from common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from common.transformations.transformations cimport LocalCoord_c
 
 
 import cython