Added USE_THNEED environment variable and removed build flag (#29645)

selfdrive/modeld/modeld.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import sys
 import time
 import numpy as np
@@ -7,7 +8,7 @@ from typing import Dict, Optional
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.hardware import PC
+from openpilot.system.hardware import PC, TICI
 from openpilot.system.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -16,8 +17,9 @@ from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLCont
 from openpilot.selfdrive.modeld.models.driving_pyx import (
   PublishState, create_model_msg, create_pose_msg, update_calibration,
   FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
-  OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ, USE_THNEED)
+  OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
 
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
 if USE_THNEED:
   from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
 else:

selfdrive/modeld/models/driving.h

@@ -9,12 +9,6 @@
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
 
-#ifdef USE_THNEED
-  constexpr bool CPP_USE_THNEED = true;
-#else
-  constexpr bool CPP_USE_THNEED = false;
-#endif
-
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;

selfdrive/modeld/models/driving.pxd

@@ -21,7 +21,6 @@ cdef extern from "selfdrive/modeld/models/driving.h":
   cdef int OUTPUT_SIZE
   cdef int NET_OUTPUT_SIZE
   cdef int MODEL_FREQ
-  cdef bool CPP_USE_THNEED
   cdef struct PublishState: pass
 
   mat3 update_calibration(float *, bool, bool)

selfdrive/modeld/models/driving_pyx.pyx

@@ -11,7 +11,7 @@ from .commonmodel cimport mat3
 from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \
                       TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \
                       NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \
-                      OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ, CPP_USE_THNEED
+                      OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ
 from .driving cimport MessageBuilder, PublishState as cppPublishState
 from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration
 
@@ -25,7 +25,6 @@ NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN
 OUTPUT_SIZE = CPP_OUTPUT_SIZE
 NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE
 MODEL_FREQ = CPP_MODEL_FREQ
-USE_THNEED = CPP_USE_THNEED
 
 cdef class PublishState:
   cdef cppPublishState state