diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 41c3373..934ced0 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -23,6 +23,7 @@ repos:
         entry: pylint
         language: system
         types: [python]
+        exclude: 'site_scons/'
         args:
         - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
 -   repo: local
diff --git a/SConscript b/SConscript
index c0ade46..192e26c 100644
--- a/SConscript
+++ b/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq')
 
 import shutil
 
@@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
 # different target?
 #env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
 
-
-env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
-            cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-            "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
-
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
 
 if GetOption('test'):
   env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
diff --git a/SConstruct b/SConstruct
index e9de920..6cc7650 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,21 +1,17 @@
-import Cython
-import distutils
 import os
 import subprocess
-import sys
+import sysconfig
 
 zmq = 'zmq'
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 
-# Rebuild cython extensions if python, distutils, or cython change
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
-Export('cython_dependencies')
 
 cereal_dir = Dir('.')
 
 cpppath = [
   cereal_dir,
   '/usr/lib/include',
+  sysconfig.get_paths()['include'],
 ]
 
 AddOption('--test',
@@ -46,7 +42,28 @@ env = Environment(
   CFLAGS="-std=gnu11",
   CXXFLAGS="-std=c++1z",
   CPPPATH=cpppath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
 )
 Export('env', 'zmq', 'arch')
 
+
+envCython = env.Clone()
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+
+python_libs = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+
+  python_libs.append(os.path.basename(python_path))
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+envCython["LIBS"] = python_libs
+
+Export('envCython')
+
+
 SConscript(['SConscript'])
diff --git a/messaging/messaging_pyx.pyx b/messaging/messaging_pyx.pyx
index 8b3e847..467b5a2 100644
--- a/messaging/messaging_pyx.pyx
+++ b/messaging/messaging_pyx.pyx
@@ -7,11 +7,11 @@ from libcpp cimport bool
 from libc cimport errno
 
 
-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
+from messaging.messaging cimport Context as cppContext
+from messaging.messaging cimport SubSocket as cppSubSocket
+from messaging.messaging cimport PubSocket as cppPubSocket
+from messaging.messaging cimport Poller as cppPoller
+from messaging.messaging cimport Message as cppMessage
 
 
 class MessagingError(Exception):
diff --git a/messaging/messaging_pyx_setup.py b/messaging/messaging_pyx_setup.py
deleted file mode 100644
index 43dc9c9..0000000
--- a/messaging/messaging_pyx_setup.py
+++ /dev/null
@@ -1,58 +0,0 @@
-import os
-import subprocess
-import sysconfig
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-TICI = os.path.isfile('/TICI')
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
-libraries = ['zmq']
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64" and not TICI:
-  # android
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='messaging',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "messaging_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          libraries=libraries,
-          extra_objects=[
-            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
-          ]
-        ),
-        nthreads=4,
-      ),
-)
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
new file mode 100644
index 0000000..45ba797
--- /dev/null
+++ b/site_scons/site_tools/cython.py
@@ -0,0 +1,38 @@
+import SCons
+from SCons.Action import Action
+
+cythonAction = Action("$CYTHONCOM")
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+               action = cythonAction,
+               emitter = {},
+               suffix = cython_suffix_emitter,
+               single_source = 1
+             )
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True