open source driving agent
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import os
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, common, visionipc, gpucommon,
'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
common_src = [
"models/commonmodel.cc",
"runners/snpemodel.cc",
"transforms/loadyuv.cc",
"transforms/transform.cc"
]
thneed_src_common = [
"thneed/thneed_common.cc",
"thneed/serialize.cc",
"runners/thneedmodel.cc",
]
thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
use_thneed = not GetOption('no_thneed')
if arch == "larch64":
libs += ['gsl', 'CB', 'pthread', 'dl']
if use_thneed:
common_src += thneed_src_qcom
lenv['CXXFLAGS'].append("-DUSE_THNEED")
else:
libs += ['pthread']
if not GetOption('snpe'):
# for onnx support
common_src += ['runners/onnxmodel.cc']
# tell runners to use onnx
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
if arch == "Darwin":
# fix OpenCL
del libs[libs.index('OpenCL')]
lenv['FRAMEWORKS'] = ['OpenCL']
if arch == "Darwin" or arch == "aarch64":
# no SNPE on Mac and ARM Linux
del libs[libs.index('SNPE')]
del common_src[common_src.index('runners/snpemodel.cc')]
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
for xenv in (lenv, lenvCython):
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
lenvCython['CFLAGS'].append("-DUSE_THNEED")
lenvCython['CXXFLAGS'].append("-DUSE_THNEED")
common_frameworks = []
common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq']
if arch == "Darwin":
common_frameworks.append('OpenCL')
else:
common_libs.append('OpenCL')
onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
commonmodel_lib = lenv.Library('commonmodel', common_src)
lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks)
lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
common_model = lenv.Object(common_src)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common_model, LIBS=libs)
lenv.Program('_navmodeld', [
"navmodeld.cc",
"models/nav.cc",
]+common_model, LIBS=libs)
# build thneed model
if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath
tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
llenv = lenv.Clone()
if GetOption('pc_thneed'):
llenv['CFLAGS'].append("-DUSE_THNEED")
llenv['CXXFLAGS'].append("-DUSE_THNEED")
common_model += llenv.Object(thneed_src_pc)
libs += ['dl']
llenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common_model, LIBS=libs + transformations)