openpilot_comma/selfdrive/modeld/SConscript

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

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

TEST_THNEED = False

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

if arch == "aarch64":
  libs += ['gsl', 'CB', 'gnustl_shared']
  if not TEST_THNEED:
    common_src += ["thneed/thneed.cc"]
    lenv['CFLAGS'].append("-DUSE_THNEED")
    lenv['CXXFLAGS'].append("-DUSE_THNEED")
elif arch == "larch64":
  libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']
else:
  libs += ['symphony-cpu', 'pthread']

  # for tensorflow support
  common_src += ['runners/tfmodel.cc']
  # tell runners to use it
  lenv['CFLAGS'].append("-DUSE_TF_MODEL")
  lenv['CXXFLAGS'].append("-DUSE_TF_MODEL")

common = lenv.Object(common_src)

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

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

if TEST_THNEED:
  lenv.Program('thneed/debug/_thneed', [
      "thneed/thneed.cc", "thneed/debug/test.cc"
    ]+common, LIBS=libs)
Use C++ version of SubMaster and PubMaster (#1548) * add PubMaster & SubMaster remove 'delete msg' remove headers * use constructor to initial all submster * modify drain sockets * fix typo in ssconscript.remove lines no checkValid in loggerd last modify handle_message:event->&event fix type remove heads event to auto * new interface * api changed * Revert "use constructor to initial all submster" This reverts commit 73be7ea46250a325ce41d3a0445e34395a2ae692. * change to new api * revert loggerd * dd * use new PubSub api * update to new interface don't modify loggerd reset panda reset opendbc remove empty lines * switch to new pubMaster * update to the new inteface change remove error code . to -> merge paramsd.cc update panda fix typo simplify fix typo * Fix build * always conflate Co-authored-by: deanlee <deanlee3@gmail.com> old-commit-hash: ab5af232b243ba8137695f68c125f922fb412d44 5 years ago			`Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')`
logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago			`lenv = env.Clone()`

Use C++ version of SubMaster and PubMaster (#1548) * add PubMaster & SubMaster remove 'delete msg' remove headers * use constructor to initial all submster * modify drain sockets * fix typo in ssconscript.remove lines no checkValid in loggerd last modify handle_message:event->&event fix type remove heads event to auto * new interface * api changed * Revert "use constructor to initial all submster" This reverts commit 73be7ea46250a325ce41d3a0445e34395a2ae692. * change to new api * revert loggerd * dd * use new PubSub api * update to new interface don't modify loggerd reset panda reset opendbc remove empty lines * switch to new pubMaster * update to the new inteface change remove error code . to -> merge paramsd.cc update panda fix typo simplify fix typo * Fix build * always conflate Co-authored-by: deanlee <deanlee3@gmail.com> old-commit-hash: ab5af232b243ba8137695f68c125f922fb412d44 5 years ago			`libs = [cereal, messaging, common, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv', gpucommon, visionipc]`
logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago
thneed saves 45% of a core (#1512) * thneed runs the model * thneed is doing the hooking * set kernel args * thneeding the bufferS * print the images well * thneeds with better buffers * includes * disasm adreno * parse packets * disasm works * disasm better * more thneeding * much thneeding * much more thneeding * thneed works i think * thneed is patient * thneed works * 7.7% * gpuobj sync * yay, it mallocs now * cleaning it up, Thneed * sync objs and set power * thneed needs inputs and outputs * thneed in modeld * special modeld runs * can't thneed the DSP * test is weird * thneed modeld uses 6.4% CPU * add thneed to release * move to debug * delete some junk from the pr * always track the timestamp * timestamp hacks in thneed * create a new command queue * fix timestamp * pretty much back to what we had, you can't use SNPE with thneed * improve thneed test * disable save log Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 302d06ee709cb65dba39e836917f5693f0819efb 5 years ago			`TEST_THNEED = False`

logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago			`common_src = [`
			`"models/commonmodel.c",`
			`"runners/snpemodel.cc",`
			`"transforms/loadyuv.c",`
			`"transforms/transform.c"]`

			`if arch == "aarch64":`
			`libs += ['gsl', 'CB', 'gnustl_shared']`
thneed saves 45% of a core (#1512) * thneed runs the model * thneed is doing the hooking * set kernel args * thneeding the bufferS * print the images well * thneeds with better buffers * includes * disasm adreno * parse packets * disasm works * disasm better * more thneeding * much thneeding * much more thneeding * thneed works i think * thneed is patient * thneed works * 7.7% * gpuobj sync * yay, it mallocs now * cleaning it up, Thneed * sync objs and set power * thneed needs inputs and outputs * thneed in modeld * special modeld runs * can't thneed the DSP * test is weird * thneed modeld uses 6.4% CPU * add thneed to release * move to debug * delete some junk from the pr * always track the timestamp * timestamp hacks in thneed * create a new command queue * fix timestamp * pretty much back to what we had, you can't use SNPE with thneed * improve thneed test * disable save log Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 302d06ee709cb65dba39e836917f5693f0819efb 5 years ago			`if not TEST_THNEED:`
			`common_src += ["thneed/thneed.cc"]`
			`lenv['CFLAGS'].append("-DUSE_THNEED")`
			`lenv['CXXFLAGS'].append("-DUSE_THNEED")`
tici: add (somewhat) broken camerad support (#1300) * capnparm * building in progress * scons build works * that script fixes opencl * start new camera code * includes and more camera scripts * control c works now * no device control yet * phy too * just one camera for now * fix capnparm * hmm, the inits are needed * more cameras * link stop start * doesn't work yet * fix ion on qcom2 * start poll ish * 4 pictures and done * no jpeg * it works to picture * destroy sync obj * both work for now * defined QCOM2 * fix fd leak * run modeld * 10 bit mode * real frame stride * needs digital gain * dnew * no color correcting on new * that snpe doesn't work * qcom2 gate * cleanups * oops, fix aarch64 detector * update cereal * modeld works with SNPE * fix driver monitoring model Co-authored-by: Tici <robbe@comma.ai> old-commit-hash: 8db0993663d7f16cddde00a2dfac8347a152b34e 5 years ago			`elif arch == "larch64":`
			`libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']`
logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago			`else:`
			`libs += ['symphony-cpu', 'pthread']`

Cleanup simulator and add usage instructions (#1050) * cleanup simulator files * minor updates * update readme * keras runner builds * hmm, still doesn't work * keras runner works * should work with python3 keras mod * touchups old-commit-hash: c50c71829375fbbbeacd0add7bfd7e3f04c57668 5 years ago			`# for tensorflow support`
			`common_src += ['runners/tfmodel.cc']`
			`# tell runners to use it`
			`lenv['CFLAGS'].append("-DUSE_TF_MODEL")`
			`lenv['CXXFLAGS'].append("-DUSE_TF_MODEL")`
logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago
			`common = lenv.Object(common_src)`

dmonitoringd (#1016) old-commit-hash: 6322a275d6d6f4f638706cce95421517306940cc 5 years ago			`lenv.Program('_dmonitoringmodeld', [`
			`"dmonitoringmodeld.cc",`
			`"models/dmonitoring.cc",`
logcatd, loggerd, mapd, modeld, proclogd old-commit-hash: da079d47d7d9496723117700ae1bb51c1f1abc38 5 years ago			`]+common, LIBS=libs)`

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

thneed saves 45% of a core (#1512) * thneed runs the model * thneed is doing the hooking * set kernel args * thneeding the bufferS * print the images well * thneeds with better buffers * includes * disasm adreno * parse packets * disasm works * disasm better * more thneeding * much thneeding * much more thneeding * thneed works i think * thneed is patient * thneed works * 7.7% * gpuobj sync * yay, it mallocs now * cleaning it up, Thneed * sync objs and set power * thneed needs inputs and outputs * thneed in modeld * special modeld runs * can't thneed the DSP * test is weird * thneed modeld uses 6.4% CPU * add thneed to release * move to debug * delete some junk from the pr * always track the timestamp * timestamp hacks in thneed * create a new command queue * fix timestamp * pretty much back to what we had, you can't use SNPE with thneed * improve thneed test * disable save log Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 302d06ee709cb65dba39e836917f5693f0819efb 5 years ago			`if TEST_THNEED:`
			`lenv.Program('thneed/debug/_thneed', [`
			`"thneed/thneed.cc", "thneed/debug/test.cc"`
			`]+common, LIBS=libs)`