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import os
import subprocess
import sys
import sysconfig
import platform
import shlex
import importlib
import numpy as np
import SCons.Errors
from SCons.Defaults import _stripixes
COMMA_HARDWARE = os.path.isfile('/AGNOS')
SCons.Warnings.warningAsException(True)
Decider('MD5-timestamp')
SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
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')
release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
AddOption('--minimal',
action='store_false',
dest='extras',
default=(not COMMA_HARDWARE and not release),
help='the minimum build to run openpilot. no tests, tools, etc.')
submodule_python_paths = [
Dir("#").abspath,
Dir("#msgq_repo").abspath,
Dir("#opendbc_repo").abspath,
Dir("#rednose_repo").abspath,
Dir("#teleoprtc_repo").abspath,
Dir("#tinygrad_repo").abspath,
]
for p in reversed(submodule_python_paths):
if p not in sys.path:
sys.path.insert(0, p)
if external_pythonpath := os.environ.get("PYTHONPATH"):
submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
# Detect platform
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"
elif arch == "aarch64" and COMMA_HARDWARE:
arch = "comma_arm64"
assert arch in [
"comma_arm64", # linux comma hardware (AGNOS) arm64
"aarch64", # linux pc arm64
"x86_64", # linux pc x64
"Darwin", # macOS arm64 (x86 not supported)
]
pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', '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
# COMMA_HARDWARE 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"),
os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
]
# ***** enforce a whitelist of system libraries *****
# this prevents silently relying on a 3rd party package,
# e.g. apt-installed libusb. all libraries should either
# be distributed with all Linux distros and macOS, or
# vendored in commaai/dependencies.
allowed_system_libs = {
"EGL", "GLESv2", "GL",
"dl", "drm", "gbm", "m", "pthread",
}
def _resolve_lib(env, name):
for d in env.Flatten(env.get('LIBPATH', [])):
p = Dir(str(d)).abspath
for ext in ('.a', '.so', '.dylib'):
f = File(os.path.join(p, f'lib{name}{ext}'))
if f.exists() or f.has_builder():
return name
if name in allowed_system_libs:
return name
raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
def _libflags(target, source, env, for_signature):
libs = []
lp = env.subst('$LIBLITERALPREFIX')
for lib in env.Flatten(env.get('LIBS', [])):
if isinstance(lib, str):
if os.sep in lib or lib.startswith('#'):
libs.append(File(lib))
elif lib.startswith('-') or (lp and lib.startswith(lp)):
libs.append(lib)
else:
libs.append(_resolve_lib(env, lib))
else:
libs.append(lib)
return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
env = Environment(
ENV={
"PATH": os.environ['PATH'],
"PYTHONPATH": os.pathsep.join(submodule_python_paths),
"ACADOS_SOURCE_DIR": acados.DIR,
"ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
"TERA_PATH": acados.TERA_PATH
},
CCFLAGS=[
"-g",
"-fPIC",
"-pipe",
"-O2",
"-Wunused",
"-Werror",
"-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
"-Wno-unknown-warning-option",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
"-Wno-vla-cxx-extension",
],
CFLAGS=["-std=gnu11"],
CXXFLAGS=["-std=c++1z"],
CPPPATH=[
"#openpilot",
"#msgq_repo", # #include "msgq/..."
"#opendbc_repo", # #include "opendbc/..."
"#rednose_repo", # #include "rednose/..."
"#rednose_repo/rednose", # #include "logger/..." (rednose package root)
"#openpilot/cereal/gen/cpp",
acados_include_dirs,
[x.INCLUDE_DIR for x in pkgs],
"#",
],
LIBPATH=[
"#openpilot/common",
"#msgq_repo",
"#openpilot/selfdrive/pandad",
"#rednose_repo/rednose/helpers",
[x.LIB_DIR for x in pkgs],
],
RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
CYTHONCFILESUFFIX=".cpp",
COMPILATIONDB_USE_ABSPATH=True,
REDNOSE_ROOT="#rednose_repo",
tools=["default", "cython", "compilation_db", "rednose_filter"],
toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
)
# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
if arch == "Darwin":
env["RPATHPREFIX"] = "-Wl,-rpath,"
env["RPATHSUFFIX"] = ""
env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
if arch != "comma_arm64":
env['_LIBFLAGS'] = _libflags
# Arch-specific flags and paths
if arch == "comma_arm64":
env["CC"] = "clang"
env["CXX"] = "clang++"
env.Append(LIBPATH=[
"/usr/lib/aarch64-linux-gnu",
])
arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
env.Append(CCFLAGS=arch_flags)
env.Append(CXXFLAGS=arch_flags)
elif arch == "Darwin":
env.Append(LIBPATH=[
"/System/Library/Frameworks/OpenGL.framework/Libraries",
])
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
_extra_cc = shlex.split(GetOption('ccflags') or '')
if _extra_cc:
env.Append(CCFLAGS=_extra_cc)
# no --as-needed on mac linker
if arch != "Darwin":
env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
# Shorter build output: show brief descriptions instead of full commands.
# Full command lines are still printed on failure by scons.
if not GetOption('verbose'):
for action, short in (
("CC", "CC"),
("CXX", "CXX"),
("LINK", "LINK"),
("SHCC", "CC"),
("SHCXX", "CXX"),
("SHLINK", "LINK"),
("AR", "AR"),
("RANLIB", "RANLIB"),
("AS", "AS"),
):
env[f"{action}COMSTR"] = f" [{short}] $TARGET"
# ********** Cython build environment **********
envCython = env.Clone()
envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["CCFLAGS"].remove("-Werror")
envCython["LIBS"] = []
if arch == "Darwin":
envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
else:
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
np_version = SCons.Script.Value(np.__version__)
Export('envCython', 'np_version')
Export('env', 'arch', 'acados', 'ffmpeg_libs')
# Setup cache dir
cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
cache_size_limit = 4e9 if "CI" in os.environ else 2e9
CacheDir(cache_dir)
Clean(["."], cache_dir)
def prune_cache_dir(target=None, source=None, env=None):
cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
cache_size = sum(os.path.getsize(f) for f in cache_files)
for f in cache_files:
if cache_size < cache_size_limit:
break
cache_size -= os.path.getsize(f)
os.unlink(f)
# ********** start building stuff **********
# Build common module
SConscript(['openpilot/common/SConscript'])
Import('_common')
common = [_common, 'json11']
Export('common')
# Build messaging (cereal + msgq + socketmaster + their dependencies)
SConscript(['msgq_repo/SConscript'])
SConscript(['openpilot/cereal/SConscript'])
Import('socketmaster', 'msgq')
messaging = [socketmaster, msgq, 'capnp', 'kj',]
Export('messaging')
# Build other submodules
SConscript(['panda/SConscript'])
# Build rednose library
SConscript(['rednose_repo/rednose/SConscript'])
# Build system services
SConscript([
'openpilot/system/loggerd/SConscript',
])
if arch == "comma_arm64":
SConscript(['openpilot/system/camerad/SConscript'])
# Build selfdrive
SConscript([
'openpilot/selfdrive/pandad/SConscript',
'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
'openpilot/selfdrive/locationd/SConscript',
'openpilot/selfdrive/modeld/SConscript',
'openpilot/selfdrive/ui/SConscript',
])
# Build desktop-only tools
if GetOption('extras') and arch != "comma_arm64":
SConscript([
'openpilot/tools/replay/SConscript',
'openpilot/tools/cabana/SConscript',
'openpilot/tools/jotpluggler/SConscript',
])
env.CompilationDatabase('compile_commands.json')
# progress output
def get_scons_nodes(nodes):
seen = set()
stack = list(nodes)
while stack:
node = stack.pop().disambiguate()
if node in seen:
continue
seen.add(node)
# Only scan directories; generated sources are not ready yet.
stack += (node.prerequisites or []) + node.children(scan=isinstance(node, SCons.Node.FS.Dir))
return seen
progress_interval = 5
progress_nodes = get_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry))
progress_total = max(1, len(progress_nodes))
def progress_function(node):
if node not in progress_nodes:
return
progress_nodes.remove(node)
if len(progress_nodes) % progress_interval:
return
progress = round(100. * (1 - len(progress_nodes) / progress_total), 1)
sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
if progress == 100. and sys.stderr.isatty():
sys.stderr.write("\n")
sys.stderr.flush()
Progress(progress_function)
AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
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