IQ.Pilot Release Commit @ 0b96bd5
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -1,97 +1,19 @@
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import subprocess
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import os
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import shutil
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import iqdbc
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import sys
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venv_site_packages = os.path.join(Dir("#").abspath, ".venv", "lib", "python3.12", "site-packages")
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if os.path.isdir(venv_site_packages) and venv_site_packages not in sys.path:
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sys.path.insert(0, venv_site_packages)
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import imgui
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import iqdbc
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import libusb
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from iqpilot.common.basedir import BASEDIR
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Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
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# Detect Qt - skip build if not available
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if arch == "Darwin":
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try:
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brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
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has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5"))
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except (FileNotFoundError, subprocess.CalledProcessError):
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has_qt = False
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else:
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has_qt = shutil.which('qmake') is not None
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if not has_qt:
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Return()
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qt_env = env.Clone()
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qt_modules = ["Widgets", "Gui", "Core"]
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qt_libs = []
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if arch == "Darwin":
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qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
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qt_dirs = [
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os.path.join(qt_env['QTDIR'], "include"),
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]
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qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
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qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
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qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules]
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qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
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else:
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qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
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qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
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qt_env['QTDIR'] = qt_install_prefix
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qt_dirs = [
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f"{qt_install_headers}",
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]
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qt_gui_path = os.path.join(qt_install_headers, "QtGui")
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qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
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qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
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qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
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qt_libs = [f"Qt5{m}" for m in qt_modules]
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qt_env['QT3DIR'] = qt_env['QTDIR']
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qt_env.Tool('qt3')
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qt_env['CPPPATH'] += qt_dirs
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qt_flags = [
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"-D_REENTRANT",
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"-DQT_NO_DEBUG",
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"-DQT_WIDGETS_LIB",
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"-DQT_GUI_LIB",
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"-DQT_CORE_LIB",
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"-DQT_MESSAGELOGCONTEXT",
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]
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qt_env['CXXFLAGS'] += qt_flags
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qt_env['LIBPATH'] += ['#iqpilot/selfdrive/ui', ]
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qt_env['LIBS'] = qt_libs
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base_frameworks = qt_env['FRAMEWORKS']
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base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
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if arch == "Darwin":
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base_frameworks += ['CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
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cabana_env = qt_env.Clone()
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cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
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cabana_env['LIBPATH'] += [libusb.LIB_DIR]
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# IQ.Pilot patch: replay_lib fetches routes over libcurl and signs konn3kt JWTs with
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# OpenSSL (tools/replay/api.cc), and visionipc references OpenCL — upstream gets all
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# three transitively from its Python downloader / vendored wheels, we link them here.
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cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + \
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['bz2', 'zstd', 'curl', 'ssl', 'crypto', 'usb-1.0'] + base_libs
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if arch == "Darwin":
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base_frameworks += ['OpenCL']
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else:
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cabana_libs += ['OpenCL']
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opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % iqdbc.DBC_PATH
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cabana_env['CXXFLAGS'] += [opendbc_path]
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# embed the bootstrap icons SVG into the binary
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def build_bootstrap_icons_src(target, source, env):
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data = open(str(source[0]), 'rb').read()
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with open(str(target[0]), 'w') as f:
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@@ -100,48 +22,92 @@ def build_bootstrap_icons_src(target, source, env):
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f.write('extern const size_t bootstrap_icons_svg_len;\n')
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f.write('const unsigned char bootstrap_icons_svg[] = {\n')
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for i in range(0, len(data), 32):
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f.write(','.join(str(b) for b in data[i:i+32]) + ',\n')
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f.write(','.join(str(b) for b in data[i:i + 32]) + ',\n')
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f.write('};\n')
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f.write('const size_t bootstrap_icons_svg_len = sizeof(bootstrap_icons_svg);\n')
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return None
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# IQ.Pilot patch: no comma-deps-bootstrap-icons wheel here; the SVG is checked in
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# under third_party/bootstrap (see its pull.sh).
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bootstrap_icons_src = cabana_env.Command('assets/bootstrap_icons.cc', '#iqpilot/third_party/bootstrap/bootstrap-icons.svg',
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cabana_env.PrettyAction(build_bootstrap_icons_src, 'GEN'))
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cabana_env = env.Clone()
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cabana_env['CPPPATH'] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
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cabana_env['LIBPATH'] += [p for p in [imgui.MESA_DIR, libusb.LIB_DIR] if os.path.isdir(p)]
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cabana_env['CXXFLAGS'] += [
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opendbc_path,
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"-DGLFW_INCLUDE_NONE",
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'-DCABANA_FONTS_DIR=\'"%s"\'' % os.path.join(os.path.realpath(BASEDIR), "iqpilot", "selfdrive", "assets", "fonts"),
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'-DBOOTSTRAP_ICONS_TTF=\'"%s"\'' % os.path.join(os.path.realpath(BASEDIR), "iqpilot", "tools", "jotpluggler", "assets", "bootstrap-icons.ttf"),
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]
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# build assets
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assets = "assets/assets.cc"
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cabana_env.Command(assets, "assets/assets.qrc", cabana_env.PrettyAction("rcc $SOURCES -o $TARGET", 'RCC'))
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cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, "assets/assets.o"]))
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bootstrap_icons_src = cabana_env.Command(
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'ui/obj/bootstrap_icons.cc',
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'#iqpilot/third_party/bootstrap/bootstrap-icons.svg',
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cabana_env.PrettyAction(build_bootstrap_icons_src, 'GEN'),
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)
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cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
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'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
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'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
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'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
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'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
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'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
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core_srcs = [
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'streams/pandastream.cc',
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'streams/devicestream.cc',
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'streams/livestream.cc',
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'streams/abstractstream.cc',
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'streams/replaystream.cc',
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'dbc/dbc.cc',
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'dbc/dbcfile.cc',
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'dbc/dbcmanager.cc',
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'utils/export.cc',
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'utils/util.cc',
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'utils/strings.cc',
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'commands.cc',
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'settings.cc',
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'routes.cc',
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'panda.cc',
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]
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if arch != "Darwin":
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cabana_srcs += ['streams/socketcanstream.cc']
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cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs + [bootstrap_icons_src], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
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cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
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core_srcs += ['streams/socketcanstream.cc']
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core_objects = [cabana_env.Object('ui/obj/' + src.replace('/', '_')[:-3], src) for src in core_srcs]
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ui_objects = core_objects + [cabana_env.Object('ui/obj/bootstrap_icons', bootstrap_icons_src)]
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ui_objects += cabana_env.Glob('ui/*.cc')
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ui_objects += cabana_env.Glob('ui/widgets/*.cc')
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ui_objects += cabana_env.Glob('ui/dialogs/*.cc')
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ui_objects += cabana_env.Glob('ui/chart/*.cc')
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ui_objects += cabana_env.Glob('ui/tools/*.cc')
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cabana_libs = [
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replay_lib,
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common,
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messaging,
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visionipc,
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cereal,
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File(f"{imgui.LIB_DIR}/libimgui.a"),
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File(f"{imgui.LIB_DIR}/libglfw3.a"),
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] + ffmpeg_libs + ['bz2', 'zstd', 'curl', 'ssl', 'crypto', 'm', 'pthread', 'usb-1.0']
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if arch == "Darwin":
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cabana_env['FRAMEWORKS'] = ['OpenGL', 'OpenCL', 'Cocoa', 'IOKit', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'Security', 'VideoToolbox']
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else:
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cabana_libs += ['GL', 'OpenCL', 'dl']
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cabana = cabana_env.Program('_cabana', ui_objects, LIBS=cabana_libs)
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if GetOption('extras'):
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# This target deliberately uses the base environment and links no Qt libraries.
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# It prevents Qt dependencies from creeping back into the DBC core.
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dbc_core_test_env = env.Clone()
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dbc_core_test_env['CXXFLAGS'] += [opendbc_path]
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dbc_core_test_objects = [
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dbc_core_test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
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dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
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dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
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dbc_core_test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
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test_env = env.Clone()
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test_env['CXXFLAGS'] += [opendbc_path]
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test_objects = [
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test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
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test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
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test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
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test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
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test_env.Object('tests/dbc_core_strings', 'utils/strings.cc'),
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test_env.Object('tests/dbc_core_util', 'utils/util.cc'),
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test_env.Object('tests/dbc_core_icons', bootstrap_icons_src),
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test_env.Object('tests/dbc_core_routes', 'routes.cc'),
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]
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dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects)
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test_env.Program('tests/test_dbc_core', test_objects, LIBS=[replay_lib, common, 'curl', 'ssl', 'crypto'])
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output_json_file = 'iqpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
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generate_dbc = cabana_env.Command('#' + output_json_file,
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['dbc/generate_dbc_json.py'],
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cabana_env.PrettyAction("python3 iqpilot/tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file,
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'GEN', logfile='${TARGET}.log'))
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cabana_env.Depends(generate_dbc, ["#iqpilot/common", "#iqpilot/cereal"])
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generate_dbc = cabana_env.Command(
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'#' + output_json_file,
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['dbc/generate_dbc_json.py'],
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cabana_env.PrettyAction('"%s" iqpilot/tools/cabana/dbc/generate_dbc_json.py --out %s' % (sys.executable, output_json_file), 'GEN', logfile='${TARGET}.log'),
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)
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cabana_env.Depends(generate_dbc, ['#iqpilot/common', '#iqpilot/cereal', os.path.dirname(iqdbc.__file__)])
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cabana_env.Depends(cabana, generate_dbc)
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