openpilot_comma/selfdrive/modeld/SConscript

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)