mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-21 05:52:06 +08:00
Joost Wooning
3420707ad5
* live_kf to c++ * first locationd code * Running in process_replay * locationd handle cam_odo and live_calib * log event handlers * working message receiving * compiling message sending * correctly sending some messages * correct receiving and sending * update ref_commit with some all_alive_and_valid being false, minor fixes * fix std abs * linking on device fix * fix cpu usage test * generate kf constants and defines * fix replay test * replay without acks, cleanup * operate on bytearray messages * cleanup * send msg fix * small sleep, less flaky test * remove python locationd * review feedback * bump rednose
19 lines
872 B
Python
19 lines
872 B
Python
Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
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loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
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if GetOption('kaitai'):
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generated = Dir('generated').srcnode().abspath
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cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
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env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
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env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
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env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs)
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ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
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lenv = env.Clone()
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lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
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locationd = lenv.Program("locationd", ["locationd.cc", "models/live_kf.cc", ekf_sym_cc],
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LIBS=loc_libs + transformations)
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lenv.Depends(locationd, libkf)
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