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Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
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lenv = env.Clone()
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libs = [cereal, messaging, common, 'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv', gpucommon, visionipc]
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def get_dlsym_offset():
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"""Returns the offset between dlopen and dlsym in libdl.so"""
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import ctypes
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libdl = ctypes.PyDLL('libdl.so')
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dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
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dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
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return dlsym - dlopen
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common_src = [
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"models/commonmodel.cc",
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"runners/snpemodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc"
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]
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thneed_src = [
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"thneed/thneed.cc",
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"thneed/serialize.cc",
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"runners/thneedmodel.cc",
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]
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if arch == "aarch64" or arch == "larch64":
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libs += ['gsl', 'CB']
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libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
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common_src += thneed_src
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dlsym_offset = get_dlsym_offset()
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lenv['CXXFLAGS'].append("-DUSE_THNEED")
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lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
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else:
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libs += ['pthread']
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# for onnx support
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common_src += ['runners/onnxmodel.cc']
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# tell runners to use onnx
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lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
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lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
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if arch == "Darwin":
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# fix OpenCL
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del libs[libs.index('OpenCL')]
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lenv['FRAMEWORKS'] = ['OpenCL']
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# no SNPE on Mac
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del libs[libs.index('SNPE')]
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del libs[libs.index('symphony-cpu')]
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del common_src[common_src.index('runners/snpemodel.cc')]
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common_model = lenv.Object(common_src)
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# build thneed model
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if arch == "aarch64" or arch == "larch64":
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compiler = lenv.Program('thneed/compile', ["thneed/compile.cc" ]+common_model, LIBS=libs)
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cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
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lib_paths = ':'.join([Dir(p).abspath for p in lenv["LIBPATH"]])
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cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}"})
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cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
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lenv.Program('_dmonitoringmodeld', [
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"dmonitoringmodeld.cc",
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"models/dmonitoring.cc",
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]+common_model, LIBS=libs)
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lenv.Program('_modeld', [
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"modeld.cc",
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"models/driving.cc",
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]+common_model, LIBS=libs)
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