From ee9da82aab4bfa59af65a5ce00604b4b2073786b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 13 Mar 2026 19:20:33 -0700 Subject: [PATCH] cleanup build paths (#37667) * cleanup build paths * not used * lil more * rm those too * rm * lil more --- SConstruct | 28 ++++++------------- common/SConscript | 2 +- selfdrive/SConscript | 6 ---- selfdrive/ui/SConscript | 62 ++++++++++++++++++++--------------------- tools/cabana/SConscript | 4 +-- 5 files changed, 41 insertions(+), 61 deletions(-) delete mode 100644 selfdrive/SConscript diff --git a/SConstruct b/SConstruct index 6ec98b429e..0a4a3701a6 100644 --- a/SConstruct +++ b/SConstruct @@ -15,9 +15,6 @@ Decider('MD5-timestamp') SetOption('num_jobs', max(1, int(os.cpu_count()/2))) -AddOption('--asan', action='store_true', help='turn on ASAN') -AddOption('--ubsan', action='store_true', help='turn on UBSan') -AddOption('--mutation', action='store_true', help='generate mutation-ready code') AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line') AddOption('--verbose', action='store_true', default=False, help='show full build commands') AddOption('--minimal', @@ -99,8 +96,6 @@ if arch == "larch64": env["CC"] = "clang" env["CXX"] = "clang++" env.Append(LIBPATH=[ - "/usr/local/lib", - "/system/vendor/lib64", "/usr/lib/aarch64-linux-gnu", ]) arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"] @@ -112,19 +107,6 @@ elif arch == "Darwin": ]) env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"]) env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"]) -else: - env.Append(LIBPATH=[ - "/usr/lib", - "/usr/local/lib", - ]) - -# Sanitizers and extra CCFLAGS from CLI -if GetOption('asan'): - env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"]) - env.Append(LINKFLAGS=["-fsanitize=address"]) -elif GetOption('ubsan'): - env.Append(CCFLAGS=["-fsanitize=undefined"]) - env.Append(LINKFLAGS=["-fsanitize=undefined"]) _extra_cc = shlex.split(GetOption('ccflags') or '') if _extra_cc: @@ -220,7 +202,15 @@ if arch == "larch64": # Build openpilot SConscript(['third_party/SConscript']) -SConscript(['selfdrive/SConscript']) +# Build selfdrive +SConscript([ + 'selfdrive/pandad/SConscript', + 'selfdrive/controls/lib/lateral_mpc_lib/SConscript', + 'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript', + 'selfdrive/locationd/SConscript', + 'selfdrive/modeld/SConscript', + 'selfdrive/ui/SConscript', +]) if Dir('#tools/cabana/').exists() and arch != "larch64": SConscript(['tools/cabana/SConscript']) diff --git a/common/SConscript b/common/SConscript index 15a0e5eff1..c9bd1c72d1 100644 --- a/common/SConscript +++ b/common/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch') +Import('env', 'envCython') common_libs = [ 'params.cc', diff --git a/selfdrive/SConscript b/selfdrive/SConscript deleted file mode 100644 index 55f347c44e..0000000000 --- a/selfdrive/SConscript +++ /dev/null @@ -1,6 +0,0 @@ -SConscript(['pandad/SConscript']) -SConscript(['controls/lib/lateral_mpc_lib/SConscript']) -SConscript(['controls/lib/longitudinal_mpc_lib/SConscript']) -SConscript(['locationd/SConscript']) -SConscript(['modeld/SConscript']) -SConscript(['ui/SConscript']) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 4d7448c62f..1a662e6b24 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,4 +1,3 @@ -import re from pathlib import Path Import('env', 'arch', 'common') @@ -19,39 +18,38 @@ env.Command( if GetOption('extras') and arch == "larch64": # build installers - if arch != "Darwin": - raylib_env = env.Clone() - raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/'] - raylib_env['LINKFLAGS'].append('-Wl,-strip-debug') + raylib_env = env.Clone() + raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/'] + raylib_env['LINKFLAGS'].append('-Wl,-strip-debug') - raylib_libs = common + ["raylib"] - if arch == "larch64": - raylib_libs += ["GLESv2", "EGL", "gbm", "drm"] - else: - raylib_libs += ["GL"] + raylib_libs = common + ["raylib"] + if arch == "larch64": + raylib_libs += ["GLESv2", "EGL", "gbm", "drm"] + else: + raylib_libs += ["GL"] - release = "release3" - installers = [ - ("openpilot", release), - ("openpilot_test", f"{release}-staging"), - ("openpilot_nightly", "nightly"), - ("openpilot_internal", "nightly-dev"), - ] + release = "release3" + installers = [ + ("openpilot", release), + ("openpilot_test", f"{release}-staging"), + ("openpilot_nightly", "nightly"), + ("openpilot_internal", "nightly-dev"), + ] - cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh", + cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") + inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf", + "ld -r -b binary -o $TARGET $SOURCE") + inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf", "ld -r -b binary -o $TARGET $SOURCE") - inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf", - "ld -r -b binary -o $TARGET $SOURCE") - inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf", - "ld -r -b binary -o $TARGET $SOURCE") - inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf", - "ld -r -b binary -o $TARGET $SOURCE") - for name, branch in installers: - d = {'BRANCH': f"'\"{branch}\"'"} - if "internal" in name: - d['INTERNAL'] = "1" + inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf", + "ld -r -b binary -o $TARGET $SOURCE") + for name, branch in installers: + d = {'BRANCH': f"'\"{branch}\"'"} + if "internal" in name: + d['INTERNAL'] = "1" - obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) - f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs) - # keep installers small - assert f[0].get_size() < 2500*1e3, f[0].get_size() + obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) + f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs) + # keep installers small + assert f[0].get_size() < 2500*1e3, f[0].get_size() diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 1f7ba3eaef..ad77231ea6 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -71,14 +71,12 @@ if arch == "Darwin": else: base_libs.append('Qt5Charts') -qt_libs = base_libs - cabana_env = qt_env.Clone() if arch == "Darwin": cabana_env['CPPPATH'] += [f"{brew_prefix}/include"] cabana_env['LIBPATH'] += [f"{brew_prefix}/lib"] -cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + qt_libs +cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', '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]