Move Runtime into runmodel_pyx

selfdrive/modeld/modeld.py

@@ -14,7 +14,8 @@ from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.selfdrive.modeld.models.driving_pyx import (
   PublishState, create_model_msg, create_pose_msg,
   FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,

selfdrive/modeld/models/commonmodel.pxd

@@ -16,8 +16,3 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
     int buf_size
     ModelFrame(cl_device_id, cl_context)
     float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -8,14 +8,8 @@ from libc.string cimport memcpy
 from cereal.visionipc.visionipc cimport cl_mem
 from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from .commonmodel cimport mat3, ModelFrame as cppModelFrame
 
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
 cdef class CLContext(BaseCLContext):
   def __cinit__(self):
     self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)

selfdrive/modeld/runners/runmodel.pxd

@@ -3,6 +3,10 @@
 from libcpp.string cimport string
 
 cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
   cdef cppclass RunModel:
     void addInput(string, float*, int)
     void setInputBuffer(string, float*, int)

selfdrive/modeld/runners/runmodel_pyx.pyx

@@ -4,8 +4,14 @@
 from libcpp.string cimport string
 from libc.string cimport memcpy
 
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
 
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
 cdef class RunModel:
   def __dealloc__(self):
     del self.model