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