openpilot_comma/selfdrive/modeld/SConscript

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

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

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

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

if arch == "aarch64" or arch == "larch64":
  libs += ['gsl', 'CB']
  libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']

  common_src += thneed_src
  lenv['CFLAGS'].append("-DUSE_THNEED")
  lenv['CXXFLAGS'].append("-DUSE_THNEED")
else:
  libs += ['pthread']

  # 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']

    # no SNPE on Mac
    del libs[libs.index('SNPE')]
    del libs[libs.index('symphony-cpu')]
    del common_src[common_src.index('runners/snpemodel.cc')]

common_model = lenv.Object(common_src)

# build thneed model
if arch == "aarch64" or arch == "larch64":
  compiler = lenv.Program('thneed/compile', ["thneed/compile.cc" ]+common_model, LIBS=libs)
  cmd = f"cd {Dir('.').get_abspath()} && {compiler[0].get_abspath()} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
  snpe_path = "/data/pythonpath/phonelibs/snpe/"+arch
  cenv = Environment(ENV = {'LD_LIBRARY_PATH' : snpe_path+":"+lenv["ENV"]["LD_LIBRARY_PATH"]})
  cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)

lenv.Program('_dmonitoringmodeld', [
    "dmonitoringmodeld.cc",
    "models/dmonitoring.cc",
  ]+common_model, LIBS=libs)

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