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Add cmake support, use setuptools, add python3.8 support
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‎FORK.md‎

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# Why we forked it
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## Motivation
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1. Don't use scons as the build tool
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2. Support python3.8
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3. Better distribute package
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| change | description |
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| --------------------------------- | ---------------------------------------------------- |
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| `rednose/helpers/kalmanfilter.py` | Update typehint to use python3.8 compatible syntax |
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| `setup.py`, `pyproject.toml` | Use setuptools to build and package instead of scons |
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## Packaging the Library
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```bash
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# to build a wheel
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python -m build --wheel
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```
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### What is packaged
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```
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.
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├── __init__.py
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├── helpers
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│   ├── __init__.py
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│   ├── chi2_lookup_table.npy
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│   ├── chi2_lookup.py
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│   ├── common_ekf.cc
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│   ├── common_ekf.h
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│   ├── ekf_load.cc
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│   ├── ekf_load.h
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│   ├── ekf_sym_pyx.cpp
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│   ├── ekf_sym_pyx.cpython-38-darwin.so
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│   ├── ekf_sym_pyx.pyx
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│   ├── ekf_sym.cc
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│   ├── ekf_sym.h
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│   ├── ekf_sym.py
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│   ├── ekf.h
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│   ├── feature_handler.py
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│   ├── kalmanfilter.py
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│   ├── lst_sq_computer.py
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│   └── sympy_helpers.py
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├── logger
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│   └── logger.h
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└── templates
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├── __init__.py
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├── compute_pos.c
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├── ekf_c.c
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└── feature_handler.c
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```
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- instead making users recompile the library `ekf_sym.cc` and `ekf_load.cc`, I think we can just ship a shared lib.
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this way we only need to ship the headers, the pyx ext, and the python source
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## Using the library
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The wheel packages c++ source, the compiled cython extension, and python library to generate code for new filters.
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To use the library, you must:
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1. define the filter in python
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2. run the code generation step
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3. compile the generated code
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```bash
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# example on mac
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export REDNOSE_ROOT=.venv/lib/python3.8/site-packages
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clang++ -std=c++17 \
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-I $REDNOSE_ROOT/rednose/helpers \
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-I $REDNOSE_ROOT/rednose \
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-I $REDNOSE_ROOT \
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-I /opt/homebrew/include \
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generated/kinematic.cpp \
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$REDNOSE_ROOT/rednose/helpers/ekf_load.cc \
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$REDNOSE_ROOT/rednose/helpers/ekf_sym.cc \
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-dynamiclib -o generated/libkinematic.dylib
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# linux
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```
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export REDNOSE_ROOT=.venv/lib/python3.8/site-packages
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g++ -std=c++17 -fPIC \
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-I $REDNOSE_ROOT/rednose/helpers \
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-I $REDNOSE_ROOT/rednose \
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-I $REDNOSE_ROOT \
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generated/kinematic.cpp \
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$REDNOSE_ROOT/rednose/helpers/ekf_load.cc \
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$REDNOSE_ROOT/rednose/helpers/ekf_sym.cc \
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-shared -o generated/libkinematic.so
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```
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This library ships a compiled cythone extension that will dynamically load an arbitrary filter at runtime. For a new
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filter, you are building the shared library that will be loaded.
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### Depedencies
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1. eigen
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```

‎MANIFEST.in‎

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include LICENSE
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include README.*
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recursive-include cmake/*.cmake
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recursive-include rednose/templates *.c
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recursive-include rednose *.pyx *.pxd *.h *.hpp *.cc *.cpp *.npy
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global-exclude *.py[cod] __pycache__ *.so

‎pyproject.toml‎

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# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
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[tool.ruff]
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line-length = 160
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target-version="py311"
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target-version = "py311"
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[tool.ruff.lint]
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select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
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ignore = ["W292", "E741", "E402", "C408", "ISC003"]
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flake8-implicit-str-concat.allow-multiline=false
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flake8-implicit-str-concat.allow-multiline = false
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[tool.ruff.lint.flake8-tidy-imports.banned-api]
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"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
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"unittest".msg = "Use pytest"
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[tool.pytest.ini_options]
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addopts = "--durations=10 -n auto"
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[build-system]
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requires = ["setuptools>=68", "wheel", "cython>=3.0", "numpy>=1.21"]
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build-backend = "setuptools.build_meta"

‎rednose/cmake/compile-filter.cmake‎

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# Pretty ugly but meant to be an easy way to build rednose filters. Process is as follows:
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# 1) Use python filter defintion to generate C++ source
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# 2) Compile that C++ source into a shared library
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function(build_rednose_filter REDNOSE_ROOT FILTER_NAME FILTER_SOURCE GENERATED_FOLDER)
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# 1) code gen
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message(STATUS "Code-generating filter ${FILTER_NAME} from ${FILTER_SOURCE} into ${GENERATED_FOLDER}")
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execute_process(
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COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/${FILTER_SOURCE} t ${GENERATED_FOLDER}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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# 2) compile lib
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add_library(${FILTER_NAME} SHARED
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${GENERATED_FOLDER}/${FILTER_NAME}.cpp
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${REDNOSE_ROOT}/rednose/helpers/ekf_load.cc
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${REDNOSE_ROOT}/rednose/helpers/ekf_sym.cc
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)
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target_include_directories(${FILTER_NAME}
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PRIVATE
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${REDNOSE_ROOT}
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${REDNOSE_ROOT}/rednose
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${REDNOSE_ROOT}/rednose/helpers
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)
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set_target_properties(${FILTER_NAME} PROPERTIES
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POSITION_INDEPENDENT_CODE ON
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LIBRARY_OUTPUT_DIRECTORY ${GENERATED_FOLDER}
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OUTPUT_NAME ${FILTER_NAME}
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)
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# Link against dl for dynamic loading
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target_link_libraries(${FILTER_NAME} PRIVATE ${CMAKE_DL_LIBS})
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# On ELF platforms, catch unresolved symbols at link time (optional but helpful)
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if(UNIX AND NOT APPLE)
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target_link_options(${FILTER_NAME} PRIVATE "-Wl,--no-undefined")
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endif()
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endfunction()

‎rednose/helpers/kalmanfilter.py‎

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from typing import Any
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from typing import Any, Dict
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import numpy as np
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initial_x = np.zeros((0, 0))
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initial_P_diag = np.zeros((0, 0))
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Q = np.zeros((0, 0))
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obs_noise: dict[int, Any] = {}
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obs_noise: Dict[int, Any] = {}
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# Should be initialized when initializating a KalmanFilter implementation
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filter = None

‎setup.py‎

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import os
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from setuptools import setup, find_packages
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import platform
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from setuptools import setup, Extension, find_packages
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from Cython.Build import cythonize
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import numpy
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extra_compile_args = ["-O3", "-std=c++17"]
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extra_link_args = []
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include_dirs = [".", "rednose", numpy.get_include()]
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if platform.system() == "Darwin":
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extra_compile_args += ["-stdlib=libc++"]
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extra_link_args += ["-stdlib=libc++"]
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include_dirs += ["/opt/homebrew/include"]
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# debug
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if os.environ.get("DEBUG"):
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extra_compile_args += ["-O0", "-g3"]
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extra_link_args += ["-g"]
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extensions = [
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Extension(
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name="rednose.helpers.ekf_sym_pyx",
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sources=[
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"rednose/helpers/ekf_sym_pyx.pyx", # Cython
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"rednose/helpers/ekf_sym.cc", # your C++
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"rednose/helpers/ekf_load.cc", # your C++
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],
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include_dirs=include_dirs,
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language="c++",
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extra_compile_args=extra_compile_args,
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extra_link_args=extra_link_args,
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)
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]
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here = os.path.abspath(os.path.dirname(__file__))
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setup(
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name='rednose',
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version='0.0.1',
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url='https://github.com/commaai/rednose',
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author='comma.ai',
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author_email='harald@comma.ai',
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packages=find_packages(),
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platforms='any',
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license='MIT',
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package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']},
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install_requires=[
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'numpy',
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'cffi',
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'sympy',
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],
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extras_require={
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'dev': [
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'scipy',
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],
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},
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ext_modules=[],
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description="Kalman filter library",
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long_description='See https://github.com/commaai/rednose',
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name="rednose",
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version="0.0.1",
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url="https://github.com/commaai/rednose",
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author="comma.ai",
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author_email="harald@comma.ai",
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packages=find_packages(),
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platforms="any",
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license="MIT",
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include_package_data=True,
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package_data={
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"rednose.helpers": ["chi2_lookup_table.npy"],
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"rednose.templates": ["*.c"],
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"rednose": ["cmake/*.cmake"]
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},
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install_requires=["numpy", "cffi", "sympy"],
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extras_require={"dev": ["scipy"]},
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description="Kalman filter library",
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long_description="See https://github.com/commaai/rednose",
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ext_modules=cythonize(
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extensions,
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language_level=3,
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annotate=False,
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compiler_directives={
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"boundscheck": False,
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"wraparound": False,
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"cdivision": True,
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"binding": True,
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"language_level": 3,
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},
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),
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)

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