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103 lines
3.0 KiB
103 lines
3.0 KiB
import os
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Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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lenv = env.Clone()
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libs = [cereal, messaging, common, visionipc, gpucommon,
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'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
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def get_dlsym_offset():
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"""Returns the offset between dlopen and dlsym in libdl.so"""
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import ctypes
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libdl = ctypes.PyDLL('libdl.so')
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dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
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dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
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return dlsym - dlopen
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common_src = [
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"models/commonmodel.cc",
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"runners/snpemodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc"
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]
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thneed_src = [
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"thneed/thneed_common.cc",
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"thneed/thneed_qcom2.cc",
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"thneed/serialize.cc",
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"runners/thneedmodel.cc",
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]
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use_thneed = not GetOption('no_thneed')
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if arch == "larch64":
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libs += ['gsl', 'CB', 'pthread', 'dl']
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if use_thneed:
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common_src += thneed_src
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dlsym_offset = get_dlsym_offset()
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lenv['CXXFLAGS'].append("-DUSE_THNEED")
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lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
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else:
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libs += ['pthread']
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if not GetOption('snpe'):
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# for onnx support
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common_src += ['runners/onnxmodel.cc']
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# tell runners to use onnx
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lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
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lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
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if arch == "Darwin":
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# fix OpenCL
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del libs[libs.index('OpenCL')]
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lenv['FRAMEWORKS'] = ['OpenCL']
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# no SNPE on Mac
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del libs[libs.index('SNPE')]
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del common_src[common_src.index('runners/snpemodel.cc')]
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common_model = lenv.Object(common_src)
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lenv.Program('_dmonitoringmodeld', [
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"dmonitoringmodeld.cc",
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"models/dmonitoring.cc",
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]+common_model, LIBS=libs)
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# build thneed model
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if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
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fn = File("models/supercombo").abspath
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tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
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if not GetOption('pc_thneed'):
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# use FLOAT16 on device for speed + don't cache the CL kernels for space
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tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
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cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
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tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
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lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
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llenv = lenv.Clone()
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if GetOption('pc_thneed'):
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pc_thneed_src = [
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"thneed/thneed_common.cc",
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"thneed/thneed_pc.cc",
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"thneed/serialize.cc",
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"runners/thneedmodel.cc",
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]
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llenv['CFLAGS'].append("-DUSE_THNEED")
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llenv['CXXFLAGS'].append("-DUSE_THNEED")
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common_model += llenv.Object(pc_thneed_src)
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libs += ['dl']
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llenv.Program('_modeld', [
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"modeld.cc",
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"models/driving.cc",
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]+common_model, LIBS=libs + transformations)
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lenv.Program('_navmodeld', [
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"navmodeld.cc",
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"models/nav.cc",
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]+common_model, LIBS=libs + transformations)
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