diff --git a/SConstruct b/SConstruct index d73bb4b22..0f7854dcd 100644 --- a/SConstruct +++ b/SConstruct @@ -43,6 +43,21 @@ assert arch in [ pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libyuv', 'ncurses', 'zeromq', 'zstd'] pkgs = [importlib.import_module(name) for name in pkg_names] acados = pkgs[pkg_names.index('acados')] +ffmpeg = pkgs[pkg_names.index('ffmpeg')] +# Shared package ships .so/.dylib; older device venvs still have static .a only. +# Keep static link deps (x264/z/va/drm) when the installed package is static so +# TICI CI works without upgrading the device venv yet. +# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94 +_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else [] +ffmpeg_shared = any( + n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib')) + for n in _ffmpeg_lib_names +) +ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil'] +if not ffmpeg_shared: + ffmpeg_libs += ['x264', 'z'] + if arch != "Darwin": + ffmpeg_libs += ['va', 'va-drm', 'drm'] acados_include_dirs = [ acados.INCLUDE_DIR, os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"), @@ -126,7 +141,7 @@ env = Environment( "#rednose/helpers", [x.LIB_DIR for x in pkgs], ], - RPATH=[], + RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [], CYTHONCFILESUFFIX=".cpp", COMPILATIONDB_USE_ABSPATH=True, REDNOSE_ROOT="#", @@ -192,7 +207,7 @@ else: np_version = SCons.Script.Value(np.__version__) Export('envCython', 'np_version') -Export('env', 'arch', 'acados') +Export('env', 'arch', 'acados', 'ffmpeg_libs') # Setup cache dir cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache' diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript index f83e3f04f..0bba1d177 100644 --- a/openpilot/system/loggerd/SConscript +++ b/openpilot/system/loggerd/SConscript @@ -1,8 +1,6 @@ -Import('env', 'arch', 'messaging', 'common', 'visionipc') +Import('env', 'arch', 'messaging', 'common', 'visionipc', 'ffmpeg_libs') -libs = [common, messaging, visionipc, - 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', - 'pthread', 'z', 'm', 'zstd'] +libs = [common, messaging, visionipc] + ffmpeg_libs + ['pthread', 'm', 'zstd'] frameworks = [] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc'] @@ -14,9 +12,6 @@ else: if arch == "Darwin": frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo'] -if arch != "Darwin": - libs += ['va', 'va-drm', 'drm'] - logger_lib = env.Library('logger', src) libs.insert(0, logger_lib) diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript index 5a6ea7baf..aa9151451 100644 --- a/openpilot/tools/cabana/SConscript +++ b/openpilot/tools/cabana/SConscript @@ -5,7 +5,7 @@ import shutil import bootstrap_icons import libusb -Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib') +Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs') # Detect Qt - skip build if not available if arch == "Darwin": @@ -75,9 +75,7 @@ cabana_env = qt_env.Clone() cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR] cabana_env['LIBPATH'] += [libusb.LIB_DIR] -cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs -if arch != "Darwin": - cabana_libs += ['va', 'va-drm', 'drm'] +cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc/dbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] diff --git a/openpilot/tools/jotpluggler/SConscript b/openpilot/tools/jotpluggler/SConscript index 3e235bb07..dda9c8fac 100644 --- a/openpilot/tools/jotpluggler/SConscript +++ b/openpilot/tools/jotpluggler/SConscript @@ -9,7 +9,7 @@ from opendbc.car.fingerprints import MIGRATION from opendbc.car.values import PLATFORMS from openpilot.common.basedir import BASEDIR -Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib') +Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs') jot_env = env.Clone() jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR] @@ -101,12 +101,12 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [ generate_event_extractors, ) -libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"), - "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"] +libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a")] + \ + ffmpeg_libs + ["yuv", "bz2", "zstd", "m", "pthread", "usb-1.0"] if arch == "Darwin": jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"] else: - libs += ["GL", "dl", "va", "va-drm", "drm"] + libs += ["GL", "dl"] program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs) jot_env.Depends(program, generated_dbc_stamp) diff --git a/openpilot/tools/replay/SConscript b/openpilot/tools/replay/SConscript index d047415f5..c1f561852 100644 --- a/openpilot/tools/replay/SConscript +++ b/openpilot/tools/replay/SConscript @@ -1,4 +1,4 @@ -Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') +Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'ffmpeg_libs') replay_env = env.Clone() replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] @@ -12,9 +12,7 @@ if arch != "Darwin": replay_lib_src.append("qcom_decoder.cc") replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') -replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs -if arch != "Darwin": - 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