mawei/openpilot
1
0
Fork 0
mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-11-03 05:30:40 +08:00
Code Issues Packages Projects Releases Wiki Activity

patches

Browse Source
This commit is contained in:
firestar5683
2026-04-06 14:18:10 -05:00
parent da3a047bb0
commit 99771693fd
5 changed files with 102 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
scripts/host_tool_runner.sh
+3
View File
@@ -311,11 +311,14 @@ sync_worktree() {
"msgq_repo/msgq/visionipc/visionipc_pyx.so"
"rednose_repo/rednose/helpers/ekf_sym_pyx.so"
"selfdrive/modeld/models/commonmodel_pyx.so"
"selfdrive/pandad/libcan_list_to_can_capnp.a"
"selfdrive/pandad/pandad_api_impl.so"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
"third_party/libjson11.a"
"third_party/libkaitai.a"
)
scripts/launch_ui_c4_desktop.sh
+28 -5
View File
@@ -64,6 +64,14 @@ runtime_artifacts=(
"msgq/ipc_pyx.so"
"msgq/visionipc/visionipc_pyx.so"
"common/transformations/transformations.so"
"selfdrive/pandad/pandad_api_impl.so"
"selfdrive/pandad/pandad_api_impl.o"
"selfdrive/pandad/can_list_to_can_capnp.o"
"selfdrive/pandad/libcan_list_to_can_capnp.a"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
)
collect_tracked_dirty() {
@@ -181,16 +189,27 @@ prepare_msgq_host_artifacts() {
fi
}
prepare_pandad_host_artifacts() {
remove_if_elf "selfdrive/pandad/pandad_api_impl.so"
remove_if_elf "selfdrive/pandad/pandad_api_impl.o"
remove_if_elf "selfdrive/pandad/can_list_to_can_capnp.o"
# Host builds always regenerate this small archive locally. Device-built
# variants are not reusable across platforms and can poison the link step.
rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
}
python_ui_runtime_ok() {
"${PY_BIN}" - <<'PY'
import pyray # noqa: F401
import openpilot.common.params_pyx # noqa: F401
import openpilot.common.transformations.transformations # noqa: F401
import openpilot.selfdrive.pandad.pandad_api_impl # noqa: F401
import msgq.ipc_pyx # noqa: F401
import msgq.visionipc.visionipc_pyx # noqa: F401
import openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx # noqa: F401
import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx # noqa: F401
PY
[[ -f "${ROOT_DIR}/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]] &&
[[ -f "${ROOT_DIR}/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]]
}
sync_deps() {
@@ -253,17 +272,21 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
sync_raylib
prepare_common_host_artifacts
prepare_msgq_host_artifacts
prepare_pandad_host_artifacts
remove_if_elf "common/params_pyx.so"
remove_if_elf "common/transformations/transformations.so"
remove_if_elf "msgq/ipc_pyx.so"
remove_if_elf "msgq/visionipc/visionipc_pyx.so"
remove_if_elf "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
remove_if_elf "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
run_scons "${jobs}" common/params_pyx.so common/transformations/transformations.so
# Building the Cython module pulls in the platform-specific acados solver
# library via SCons dependencies, so the host path does not need to name the
# solver shared library extension explicitly.
run_scons "${jobs}" \
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so \
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
(
cd "${ROOT_DIR}/msgq_repo"
local_scons_bin="${ROOT_DIR}/.venv/bin/scons"
scripts/launch_ui_raybig_desktop.sh
+28 -5
View File
@@ -64,6 +64,14 @@ runtime_artifacts=(
"msgq/ipc_pyx.so"
"msgq/visionipc/visionipc_pyx.so"
"common/transformations/transformations.so"
"selfdrive/pandad/pandad_api_impl.so"
"selfdrive/pandad/pandad_api_impl.o"
"selfdrive/pandad/can_list_to_can_capnp.o"
"selfdrive/pandad/libcan_list_to_can_capnp.a"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
"selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.dylib"
)
collect_tracked_dirty() {
@@ -181,16 +189,27 @@ prepare_msgq_host_artifacts() {
fi
}
prepare_pandad_host_artifacts() {
remove_if_elf "selfdrive/pandad/pandad_api_impl.so"
remove_if_elf "selfdrive/pandad/pandad_api_impl.o"
remove_if_elf "selfdrive/pandad/can_list_to_can_capnp.o"
# Host builds always regenerate this small archive locally. Device-built
# variants are not reusable across platforms and can poison the link step.
rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
}
python_ui_runtime_ok() {
"${PY_BIN}" - <<'PY'
import pyray # noqa: F401
import openpilot.common.params_pyx # noqa: F401
import openpilot.common.transformations.transformations # noqa: F401
import openpilot.selfdrive.pandad.pandad_api_impl # noqa: F401
import msgq.ipc_pyx # noqa: F401
import msgq.visionipc.visionipc_pyx # noqa: F401
import openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx # noqa: F401
import openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx # noqa: F401
PY
[[ -f "${ROOT_DIR}/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]] &&
[[ -f "${ROOT_DIR}/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so" ]]
}
sync_deps() {
@@ -253,17 +272,21 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
sync_raylib
prepare_common_host_artifacts
prepare_msgq_host_artifacts
prepare_pandad_host_artifacts
remove_if_elf "common/params_pyx.so"
remove_if_elf "common/transformations/transformations.so"
remove_if_elf "msgq/ipc_pyx.so"
remove_if_elf "msgq/visionipc/visionipc_pyx.so"
remove_if_elf "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
remove_if_elf "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so"
run_scons "${jobs}" common/params_pyx.so common/transformations/transformations.so
# Building the Cython module pulls in the platform-specific acados solver
# library via SCons dependencies, so the host path does not need to name the
# solver shared library extension explicitly.
run_scons "${jobs}" \
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so \
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
(
cd "${ROOT_DIR}/msgq_repo"
local_scons_bin="${ROOT_DIR}/.venv/bin/scons"