fix build error，test on Jetson xavier NX is ok

README.md

@@ -11,15 +11,18 @@ Any user of this software shall indemnify and hold harmless Rick Lan, dragonpilo
 Table of Contents
 ------
 
-* [What is xnxpilot?](#what-is-xnxpilot)
-* [Showcase](#showcase)
-* [Checklist](#checklist)
-* [Hardware requirement](#hardware-requirement)
-* [Software requirement](#software-requirement)
-* [Hardware assimbly](#hardware-assembly)
-* [Installation](#installation)
-* [Credits](#credits)
-* [Notes](#notes)
+- [Licensing](#licensing)
+- [Table of Contents](#table-of-contents)
+- [What is xnxpilot?](#what-is-xnxpilot)
+- [Showcase](#showcase)
+- [Checklist](#checklist)
+- [Hardware Requirement](#hardware-requirement)
+- [Software Requirement](#software-requirement)
+- [Hardware assembly](#hardware-assembly)
+- [Installation](#installation)
+- [Credits](#credits)
+- [Notes](#notes)
+    - [set\_core\_affinity](#set_core_affinity)
 
 ---
 
@@ -30,6 +33,7 @@ xnxpilot (Xavier NX Pilot) is an open source driver assistance system based on [
 
 
 If you would like to run it with minimal changes to openpilot, please see the example in "doc" branch, based on openpilot 0.8.4 
+-YJ- base on dragon pilot 0.8.9
 
 ---
 

SConstruct

@@ -340,7 +340,7 @@ else:
   elif arch != "Darwin":
     qt_libs += ["GL"]
 
-qt_env.Tool('qt')
+qt_env.Tool('qt3')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",

doc/1_install.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# change jetson power mode, desktop
+sudo nvpmodel -m 5 
+# maximize Jetson Xavier performance by setting static max frequency to CPU, GPU, and EMC clocks
+sudo jetson_clocks
+
+#allow sudo without password
+IS_SUDO=$(sudo cat /etc/sudoers | grep `whoami` | wc -l)
+if [ $IS_SUDO = 0 ]; then
+  echo "$(whoami) ALL=(ALL) NOPASSWD:ALL" | (sudo su -c 'EDITOR="tee -a" visudo -f /etc/sudoers')
+fi
+
+#allow user to access USB
+sudo echo "SUBSYSTEM==\"usb\", MODE=\"0666\", GROUP=\"users\"" > $HOME/openpilot.rules
+sudo echo "SUBSYSTEM==\"usb_device\", MODE=\"0666\", GROUP=\"users\"" >> $HOME/openpilot.rules
+sudo mv $HOME/openpilot.rules /etc/udev/rules.d
+sudo chmod 644 /etc/udev/rules.d/openpilot.rules
+sudo chown root /etc/udev/rules.d/openpilot.rules
+sudo chgrp root /etc/udev/rules.d/openpilot.rules
+
+# remove unused apps
+sudo apt update
+sudo apt purge -y libreoffice* thunderbird* rhythmbox* transmission* mutter* *visionworks* ubuntu-wallpapers-bionic ubuntu-desktop *theme-ubuntu* remmina branding-ubuntu light-themes lightdm gdm3 pulseaudio packagekit ibus* metacity mate-desktop-common xfwm4 matchbox-window-manager lubuntu*
+sudo apt install -y apt-utils openbox
+sudo apt purge -y deluge smplayer* onboard* snapd* vpi1* lxmusic* avahi* yelp* gnome-* vlc* nfs* ntfs* docker* python-gi samba*
+sudo apt autoremove -y && sudo apt clean -y
+sudo apt upgrade -y
+sudo apt install gir1.2-notify
+
+#reboot
+reboot

doc/2_install.sh

@@ -0,0 +1,88 @@
+#!/bin/bash
+
+# change jetson power mode, desktop
+sudo nvpmodel -m 5 
+# maximize Jetson Xavier performance by setting static max frequency to CPU, GPU, and EMC clocks
+sudo jetson_clocks
+
+# install packages in ubuntu_setup.sh
+# without clang and qt
+sudo apt-get update && sudo apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    bzip2 \
+    capnproto \
+    cppcheck \
+    libcapnp-dev \
+    cmake \
+    curl \
+    ffmpeg \
+    git \
+    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
+    libarchive-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libffi-dev \
+    libglew-dev \
+    libgles2-mesa-dev \
+    libglfw3-dev \
+    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
+    libpng16-16 \
+    libssl-dev \
+    libstdc++-arm-none-eabi-newlib \
+    libsqlite3-dev \
+    libtool \
+    libusb-1.0-0-dev \
+    libzmq3-dev \
+    libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsmpeg-dev \
+    libsdl1.2-dev  libportmidi-dev libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev \
+    libsystemd-dev \
+    locales \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers \
+    python-dev \
+    python3-pip \
+    screen \
+    sudo \
+    vim \
+    wget \
+    gcc-arm-none-eabi
+
+# install focal version
+sudo sed -i -e 's#bionic#focal#g' /etc/apt/sources.list
+sudo apt update
+sudo apt install -y --no-install-recommends \
+	tmux \
+	clang \
+	qml-module-qtquick2 \
+	qt5-default \
+	qtmultimedia5-dev \
+	qtwebengine5-dev \
+  qtdeclarative5-dev \
+	qtchooser \
+	libqt5x11extras5-dev \
+  qtlocation5-dev \
+  qtpositioning5-dev \
+  libqt5sql5-sqlite \
+  libqt5svg5-dev \
+	ccache \
+	libreadline-dev \
+	nvidia-cudnn8 \
+	nano
+
+sudo apt install -y libpocl2
+sudo sed -i -e 's#focal#bionic#g' /etc/apt/sources.list
+sudo apt update
+
+sudo apt purge -y whoopsie apport apparmor rpcbind gpsd isc-dhcp-server
+
+wget -O .tmux.conf https://raw.githubusercontent.com/geohot/configuration/master/.tmux.conf
+# reboot
+reboot
+

doc/3_install.sh

@@ -0,0 +1,150 @@
+#!/bin/bash
+
+# change jetson power mode, desktop
+sudo nvpmodel -m 5 
+# maximize Jetson Xavier performance by setting static max frequency to CPU, GPU, and EMC clocks
+sudo jetson_clocks
+
+sudo apt autoremove -y
+
+# install jtop
+sudo pip3 install setuptools
+# jtop
+sudo -H pip3 install -U jetson-stats
+
+
+cd $HOME
+git clone https://github.com/commaai/openpilot.git openpilot
+
+cd $HOME/openpilot
+
+# install git lfs
+if ! command -v "git-lfs" > /dev/null 2>&1; then
+  curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
+  sudo apt-get install git-lfs
+fi
+
+# install pyenv
+if ! command -v "pyenv" > /dev/null 2>&1; then
+  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+fi
+
+export PYENV_ROOT="$HOME/.pyenv"
+export PATH="$PYENV_ROOT/bin:$PATH"
+eval "$(pyenv init --path)"
+# install bashrc
+source ~/.bashrc
+if [ -z "$OPENPILOT_ENV" ]; then
+  OP_DIR=$(git rev-parse --show-toplevel)
+  echo "export PYENV_ROOT=\"$HOME/.pyenv\"" >> ~/.bashrc
+  echo "export PATH=\"$PYENV_ROOT/bin:$PATH\"" >> ~/.bashrc
+  echo "eval \"$(pyenv init --path)\"" >> ~/.bashrc
+  echo "source $OP_DIR/tools/openpilot_env.sh" >> ~/.bashrc
+  source ~/.bashrc
+  echo "added openpilot_env to bashrc"
+fi
+
+# do the rest of the git checkout
+git lfs pull
+git submodule init
+git submodule update
+
+# install python
+pyenv install -s 3.8.5
+pyenv global 3.8.5
+pyenv rehash
+eval "$(pyenv init -)"
+
+# **** in python env ****
+pip install --upgrade pip==20.2.4
+pip install pipenv==2020.8.13
+
+pip install setuptools
+pip install wheel
+pip install pkgconfig
+pip install cython
+pip install pycapnp
+pip install numpy
+pip install pycurl
+pip install scons
+pip install jinja2
+pip install setuptools-cythonize
+pip install sympy
+pip install cffi
+pip install logentries
+pip install pyzmq
+pip install pyjwt
+pip install requests
+pip install atomicwrites
+pip install setproctitle
+pip install psutil
+pip install smbus2
+pip install libusb1
+pip install tqdm
+pip install crcmod
+pip install raven
+pip install pycryptodome
+pip install hexdump # for dump.py
+
+cd $HOME
+# install opencv4
+sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.2.zip
+wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.2.zip
+unzip opencv.zip
+unzip opencv_contrib.zip
+mv opencv-4.5.2 opencv
+mv opencv_contrib-4.5.2 opencv_contrib
+cd $HOME/opencv/
+mkdir build
+cd build
+
+cmake -D CMAKE_BUILD_TYPE=RELEASE \
+	-D WITH_CUDA=ON \
+	-D CUDA_ARCH_PTX="" \
+	-D CUDA_ARCH_BIN="7.2" \
+  -D WITH_CUDNN=ON \
+  -D CUDNN_VERSION="8.0" \
+	-D BUILD_opencv_python3=ON \
+	-D BUILD_opencv_python2=OFF \
+	-D BUILD_opencv_java=OFF \
+	-D WITH_GSTREAMER=ON \
+	-D WITH_GTK=OFF \
+	-D BUILD_TESTS=OFF \
+	-D BUILD_PERF_TESTS=OFF \
+	-D BUILD_EXAMPLES=OFF \
+	-D BUILD_FFMPEG=ON \
+	-D OPENCV_DNN_CUDA=ON \
+	-D ENABLE_FAST_MATH=ON \
+	-D CUDA_FAST_MATH=ON \
+	-D WITH_QT=ON \
+	-D ENABLE_NEON=ON \
+	-D ENABLE_VFPV3=ON \
+	-D BUILD_TESTS=OFF \
+  -D INSTALL_PYTHON_EXAMPLES=OFF \
+  -D INSTALL_C_EXAMPLES=OFF \
+	-D OPENCV_ENABLE_NONFREE=ON \
+  -D OPENCV_GENERATE_PKGCONFIG=ON \
+  -D PYTHON_EXECUTABLE=/home/`whoami`/.pyenv/versions/3.8.5/bin/python \
+  -D PYTHON_DEFAULT_EXECUTABLE=/home/`whoami`/.pyenv/versions/3.8.5/bin/python \
+  -D PYTHON_PACKAGES_PATH=/home/`whoami`/.pyenv/versions/3.8.5/lib/python3.8/site-packages/ \
+	-D OPENCV_EXTRA_MODULES_PATH=/home/`whoami`/opencv_contrib/modules ..
+
+make -j $(nproc)
+sudo make install
+
+#capnproto
+#install with the supplied script instead
+cd $HOME/openpilot
+sudo cereal/install_capnp.sh
+
+# instrall onnxruntime-gpu
+wget https://nvidia.box.com/shared/static/8xgbee5ghhb92i9rrcr04yymg0n3x3t0.whl -O onnxruntime_gpu-1.7.0-cp38-cp38-linux_aarch64.whl
+pip install onnxruntime_gpu-1.7.0-cp38-cp38-linux_aarch64.whl
+rm -fr onnxruntime_gpu-1.7.0-cp38-cp38-linux_aarch64.whl
+
+#add user to the input device so it can read mouse
+sudo usermod -aG input openpilot
+
+sudo apt autoremove -y
+reboot

doc/4_install.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+# autologin
+sudo apt install -y lxdm
+sudo sed -i -e 's/#autologin=dgod/autologin=openpilot/g' /etc/lxdm/default.conf
+sudo sed -i -e 's/#skip_password/skip_password/g' /etc/lxdm/default.conf
+reboot

doc/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.