openpilot_comma/selfdrive/modeld/SConscript

import os

Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
lenv = env.Clone()

libs = [cereal, messaging, common, visionipc, gpucommon,
        'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']

def get_dlsym_offset():
  """Returns the offset between dlopen and dlsym in libdl.so"""
  import ctypes
  libdl = ctypes.PyDLL('libdl.so')
  dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
  dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
  return dlsym - dlopen


common_src = [
  "models/commonmodel.cc",
  "runners/snpemodel.cc",
  "transforms/loadyuv.cc",
  "transforms/transform.cc"
]

thneed_src = [
  "thneed/thneed_common.cc",
  "thneed/thneed_qcom2.cc",
  "thneed/serialize.cc",
  "runners/thneedmodel.cc",
]

use_thneed = not GetOption('no_thneed')

if arch == "larch64":
  libs += ['gsl', 'CB', 'pthread', 'dl']

  if use_thneed:
    common_src += thneed_src
    dlsym_offset = get_dlsym_offset()
    lenv['CXXFLAGS'].append("-DUSE_THNEED")
    lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
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')]

onnxrunner_path = File("runners/onnx_runner.py").abspath
transform_path = File("transforms/transform.cl").abspath
loadyuv_path = File("transforms/loadyuv.cl").abspath
lenv['CXXFLAGS'].append(f'-DTRANSFORM_PATH=\\"{transform_path}\\"')
lenv['CXXFLAGS'].append(f'-DLOADYUV_PATH=\\"{loadyuv_path}\\"')
lenv['CXXFLAGS'].append(f'-DONNXRUNNER_PATH=\\"{onnxrunner_path}\\"')

common_model = lenv.Object(common_src)

lenv.Program('_dmonitoringmodeld', [
    "dmonitoringmodeld.cc",
    "models/dmonitoring.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'):
  pc_thneed_src = [
    "thneed/thneed_common.cc",
    "thneed/thneed_pc.cc",
    "thneed/serialize.cc",
    "runners/thneedmodel.cc",
  ]
  llenv['CFLAGS'].append("-DUSE_THNEED")
  llenv['CXXFLAGS'].append("-DUSE_THNEED")
  common_model += llenv.Object(pc_thneed_src)
  libs += ['dl']

llenv.Program('_modeld', [
    "modeld.cc",
    "models/driving.cc",
  ]+common_model, LIBS=libs + transformations)

lenv.Program('_navmodeld', [
    "navmodeld.cc",
    "models/nav.cc",
  ]+common_model, LIBS=libs + transformations)