IQ.Pilot Prebuilt Release @ da36e21

_vendor_runtime/rednose/site_scons/site_tools/rednose_filter.py

@@ -0,0 +1,40 @@
+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'):
+    action = env.PrettyAction(action, 'GEN')
+  env.Command(generated_src_files + extra_generated_files, [generator_file] + script_deps, action)
+  return File(generated_src_files[:1])
+
+
+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"]
+    return env.SharedLibrary(f'{output_dir}/{target}', [self.base_cc_deps, objects], LINKFLAGS=linker_flags)
+
+
+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")
+  env.AddMethod(CompileFilterMethod(templates + [sympy_helpers, ekf_sym], []), "RednoseCompileFilter")
+
+
+def exists(env):
+  return True