ekf_lib_init

commaai · Nov 19, 2023 · 53f8d1f · 53f8d1f
1 parent ba43c47
commit 53f8d1f
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Showing 3 changed files with 16 additions and 6 deletions.
diff --git a/rednose/helpers/ekf.h b/rednose/helpers/ekf.h
@@ -31,3 +31,12 @@ struct EKF {
   std::unordered_map<std::string, void (*)(double)> sets = {};
   std::unordered_map<std::string, extra_routine_t> extra_routines = {};
 };
+
+#define ekf_lib_init(ekf) \
+extern "C" void* ekf_get() { \
+  return (void*) &ekf; \
+} \
+extern void  __attribute__((weak)) ekf_register(const EKF* ptr); \
+static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \
+  if (ekf_register) ekf_register(&ekf); \
+}
diff --git a/rednose/helpers/ekf_sym.py b/rednose/helpers/ekf_sym.py
@@ -200,11 +200,7 @@ def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_p
     post_code += f"    {{ \"{f}\", {name}_{f} }},\n"
   post_code += "  },\n"
   post_code += "};\n\n"
-  post_code += "extern \"C\" {\n"
-  post_code += "  void* ekf_get() {\n"
-  post_code += f"    return (void*)&{name};\n"
-  post_code += "  }\n"
-  post_code += "}\n\n"
+  post_code += f"ekf_lib_init({name})\n"
 
   # merge code blocks
   header += "}"

diff --git a/site_scons/site_tools/rednose_filter.py b/site_scons/site_tools/rednose_filter.py
@@ -1,3 +1,5 @@
+import platform
+
 from SCons.Script import Dir, File, Glob
 
 
@@ -23,7 +25,10 @@ def __init__(self, base_py_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)
-    lib_target = env.SharedLibrary(f'{output_dir}/{target}', [self.base_cc_deps, objects])
+    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