IQ.Pilot Release Commit @ 412b00f

artifacts/package_sources/rednose/site_scons/site_tools/cython.py

@@ -0,0 +1,72 @@
+import re
+import SCons
+from SCons.Action import Action
+from SCons.Scanner import Scanner
+
+pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
+pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
+cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
+
+
+def pyx_scan(node, env, path, arg=None):
+  contents = node.get_text_contents()
+
+  # from <module> cimport ...
+  matches = pyx_from_import_re.findall(contents)
+  # cimport <module>
+  matches += pyx_import_re.findall(contents)
+
+  # Modules can be either .pxd or .pyx files
+  files = [m.replace('.', '/') + '.pxd' for m in matches]
+  files += [m.replace('.', '/') + '.pyx' for m in matches]
+
+  # cdef extern from <file>
+  files += cdef_import_re.findall(contents)
+
+  # Handle relative imports
+  cur_dir = str(node.get_dir())
+  files = [cur_dir + f if f.startswith('/') else f for f in files]
+
+  # Filter out non-existing files (probably system imports)
+  files = [f for f in files if env.File(f).exists()]
+  return env.File(files)
+
+
+pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
+cythonAction = Action("$CYTHONCOM")
+
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+      action=cythonAction,
+      emitter={},
+      suffix=cython_suffix_emitter,
+      single_source=1
+    )
+    env.Append(SCANNERS=pyxscanner)
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True

artifacts/package_sources/rednose/site_scons/site_tools/rednose_filter.py

@@ -0,0 +1,51 @@
+import platform
+
+from SCons.Script import Dir, File
+
+
+def compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, script_deps):
+  generated_src_files = [File(f) for f in [f'{output_dir}/{target}.cpp', f'{output_dir}/{target}.h']]
+  extra_generated_files = [File(f'{output_dir}/{x}') for x in extra_gen_artifacts]
+  generator_file = File(filter_gen_script)
+
+  action = f"{File(generator_file).relpath} {target} {Dir(output_dir).relpath}"
+  if hasattr(env, 'PrettyAction'):  # short colored line when the top-level pretty tool is present
+    action = env.PrettyAction(action, 'GEN')
+  env.Command(generated_src_files + extra_generated_files,
+              [generator_file] + script_deps, action)
+
+  generated_cc_file = File(generated_src_files[:1])
+
+  return generated_cc_file
+
+
+class BaseRednoseCompileMethod:
+  def __init__(self, base_py_deps, base_cc_deps):
+    self.base_py_deps = base_py_deps
+    self.base_cc_deps = base_cc_deps
+
+
+class CompileFilterMethod(BaseRednoseCompileMethod):
+  def __call__(self, env, target, filter_gen_script, output_dir, extra_gen_artifacts=[], gen_script_deps=[]):
+    objects = compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, self.base_py_deps + gen_script_deps)
+    linker_flags = env.get("LINKFLAGS", [])
+    if platform.system() == "Darwin":
+      linker_flags = ["-undefined", "dynamic_lookup"]
+    lib_target = env.SharedLibrary(f'{output_dir}/{target}', [self.base_cc_deps, objects], LINKFLAGS=linker_flags)
+
+    return lib_target
+
+
+def generate(env):
+  templates = env.Glob("$REDNOSE_ROOT/rednose/templates/*")
+  sympy_helpers = env.File("$REDNOSE_ROOT/rednose/helpers/sympy_helpers.py")
+  ekf_sym = env.File("$REDNOSE_ROOT/rednose/helpers/ekf_sym.py")
+
+  gen_script_deps = templates + [sympy_helpers, ekf_sym]
+  filter_lib_deps = []
+
+  env.AddMethod(CompileFilterMethod(gen_script_deps, filter_lib_deps), "RednoseCompileFilter")
+
+
+def exists(env):
+  return True