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'] # no SNPE on Mac del libs[libs.index('SNPE')] del common_src[common_src.index('runners/snpemodel.cc')] 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", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] 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)